Methods and systems for transportation using unmanned aerial vehicles

ABSTRACT

An unmanned aerial vehicle (UAV) for transporting a payload is provided. The UAV comprises a body and one or more propellers rotatably connected to the body. The UAV further comprises a battery mounted to the body. The battery is releasable from the bottom of the UAV. The UAV further comprises a payload container mounted to the body. The payload container is releasable from the bottom of the UAV to a landing platform associated with a UAV station.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/843,602, entitled “METHODS AND SYSTEMS FOR TRANSPORTATION USINGUNMANNED AERIAL VEHICLES”, filed Apr. 8, 2020, which is a continuationof U.S. patent application Ser. No. 15/347,442, entitled “METHODS ANDSYSTEMS FOR TRANSPORTATION USING UNMANNED AERIAL VEHICLES,” filed Nov.9, 2016, which claims priority to U.S. Provisional Patent ApplicationSer. No. 62/253,627, entitled “METHODS AND SYSTEMS FOR TRANSPORTATIONUSING UNMANNED AERIAL VEHICLE,” filed on Nov. 10, 2015, the content ofwhich are hereby incorporated by reference in their entirety for allpurposes.

FIELD

The present disclosure relates generally to unmanned aerial vehicles(UAVs). More particularly, the present disclosure relates to payloadtransportation using UAVs and mobile UAV stations.

BACKGROUND

Unmanned aerial vehicles (UAVs) or drones are increasingly being usedfor various personal or commercial applications. For example, UAVs maybe used for transportation packages in local neighborhoods. Nowadays,transportation of packages in local neighborhoods heavily relies onground infrastructures using transporting vehicles such as deliverytrucks. For example, to deliver 20 packages in a neighborhood, adelivery truck driver typically needs to make 20 stops at the packages'destination addresses to physically deliver the packages. While UAVs arebeing used to deliver packages in the recent years, they are limited bythe range of flight because they are usually launched from a fixdistribution facility. As a result, the current UAV transportationsystems may not be flexible to deliver packages to a widespread areasuch as a city or multiple neighborhoods. Therefore, there is a need tointegrate the UAVs with mobile exchange stations, such as packagetransporting vehicles, to provide flexibility and mobility fortransporting packages to multiple neighborhoods.

SUMMARY

A method for facilitating payload transportation using an unmannedaerial vehicle (UAV) is provided. The method is performed at a portableelectronic device including one or more processors and memory andcomprises receiving a first input indicating a takeoff location of theUAV and a second input indicating a landing location of the UAV. Inresponse to receiving the first and second, the portable electronicdevice obtains a determined UAV flight route from the takeoff locationto the landing location. Based on the obtained UAV flight route, theportable electronic device provides flight route information indicatinga viable flight route; and a takeoff command to the UAV according to theviable flight route.

An apparatus for transporting a payload using an unmanned aerial vehicle(UAV) is provided. The apparatus comprises a container having dimensionsthat correspond to a carrying space of a UAV. The apparatus furthercomprises a first identification accessible on an external surface ofthe container. The first identification is scannable for identifying thecontainer. The apparatus further comprises a second identificationreadable by the UAV. The second identification is associated with thefirst identification for identifying the container.

A method for facilitating payload transportation using an unmannedaerial vehicle (UAV) is provided. The method is performed at a computersystem including one or more processors and memory. The computer systemreceives an identification of a payload to be transported. Theidentification information of the payload is associated with adestination location of the payload. The computer system furtherreceives a first identification of a container for housing the payload.The first identification is accessible on an external surface of thecontainer and is scannable. The computer system further receives asecond identification from the UAV. The second identification comprisesa near-field identification tag associated with the first identificationfor identifying the container. The computer system determines a UAVflight route based on the identification of the payload; and providesthe UAV flight route to the UAV based on the first and secondidentifications.

A method for facilitating a payload transportation using an unmannedaerial vehicle (UAV) is provided. The method is performed at a portableelectronic device including one or more processors and memory. Theportable electronic device obtains an identification of the payload tobe transported. The identification of the payload is associated with adestination location of the payload. The portable electronic deviceprovides the identification of the payload to a UAV service; and obtainsa first identification of a container for housing the payload. The firstidentification is accessible on an external surface of the container andis scannable. The portable electronic device further provides the firstidentification to the UAV service; and provides one or more instructionsto a selected UAV for transporting the payload based on a UAV flightroute. The UAV flight route is generated based on the identification ofthe payload; and the UAV is selected based on the first identificationand a second identification. The second identification corresponds tothe first identification for identifying the container.

An unmanned aerial vehicle (UAV) for transporting a payload is provided.The UAV comprises a body; one or more propellers rotatably connectedwith the body; and a battery mounted to the body. The battery isreleasable from, for example, the bottom of the UAV. The UAV furthercomprises a payload container mounted to the body. The payload containeris releasable from the bottom of the UAV to a landing platformassociated with a UAV station.

A method for transporting a payload is provided. The method is performedat a UAV comprising a body and one or more propellers rotatablyconnected to the body. The UAV receives a battery from an exchangestation. The battery is received through a landing platform associatedwith the exchange station. The UAV mounts the battery to the body of theUAV. Upon receiving the battery, the UAV receives a payload containerfrom the exchange station. The payload container is received through thelanding platform associated with the exchange station. The UAV mountsthe payload container to the body of the UAV. The UAV receivesinstructions for transporting the payload container to a destination;and transports the payload container to the destination according to theinstructions.

A landing platform for receiving a payload container from an unmannedaerial vehicle (UAV) is provided. The landing platform comprises one ormore landing subsystems configured to coordinate with the UAV forlanding; one or more sensors for detecting the landing of the UAV on thelanding platform; one or more actuators configured to align the UAV forreceiving the payload container; and a payload receiving structure ofthe landing platform configured to receive the payload container.

A method for precision landing of an unmanned aerial vehicle (UAV) on alanding platform is provided. The UAV includes one or more processorsand a communication interface. The method comprises determining, at theUAV, whether the UAV is in a landing phase based on the location of theUAV. After determining that the UAV is in the landing phase, the methodfurther comprises receiving landing alignment information from thelanding platform. The landing alignment information is generated basedon at least one of a magnetic heading of the landing platform, a GPSposition of the landing platform, or an infrared beacon of the landingplatform. The method further comprises adjusting a landing path of theUAV based on the received landing alignment information.

A system for emergency landing of an unmanned aerial vehicle (UAV) isprovided. The system comprises a battery manager configured to providepower to a control circuitry for emergency landing. The system furthercomprises a controller configured to determine whether an emergencylanding signal is generated. The controller is further configured todetermine whether one or more conditions for emergency landing aresatisfied based on the determination that the emergency landing signalis generated. The controller is further configured to deploy anemergency landing mechanism based on the determination that the one ormore conditions are satisfied.

The terminology used in the description of the various describedembodiments herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used in thedescription of the various described embodiments and the appendedclaims, the singular forms “a”, “an,” and “the” are intended to includethe plural forms as well, unless the context clearly indicatesotherwise.

It will also be understood that the term “and/or” as used herein refersto and encompasses any and all possible combinations of one or more ofthe associated listed items. It will be further understood that theterms “includes,” “including,” “comprises,” and/or “comprising,” whenused in this specification, specify the presence of stated features,integers, steps, operations, elements, and/or components, but do notpreclude the presence or addition of one or more other features,integers, steps, operations, elements, components, and/or groupsthereof.

The details of one or more embodiments of the subject matter describedin the specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages of thesubject matter will become apparent from the description, the drawings,and the claims.

DESCRIPTION OF THE FIGURES

FIG. 1 illustrates an exemplary system for payload transportation usingUAVs, consistent with some embodiments of the present disclosure.

FIG. 2A illustrates an exemplary UAV station and an exemplary UAV,consistent with some embodiments of the present disclosure.

FIG. 2B is a simplified block diagram illustrating an exemplary portableelectronic device, consistent with some embodiments of the presentdisclosure.

FIG. 2C illustrates an exemplary computer system for facilitating thepayload transportation using UAVs, consistent with some embodiments ofthe present disclosure.

FIGS. 3A-3X illustrate exemplary user interfaces of an application forfacilitating payload transportation using a UAV, consistent with someembodiments of the present disclosure.

FIG. 3Y illustrates a flow chart of an exemplary process forfacilitating payload transportation using a UAV, consistent with someembodiments of the present disclosure.

FIG. 4A is a block diagram illustrating exemplary UAV service forenabling payload transportation using UAVs, consistent with someembodiments of the present disclosure.

FIG. 4B illustrates a flow chart of an exemplary process fortransporting a payload using a UAV, consistent with some embodiments ofthe present disclosure.

FIGS. 5A-5U illustrate exemplary user interfaces for facilitating apayload transportation using a UAV, consistent with some embodiments ofthe present disclosure.

FIG. 5V illustrates a flow chart of an exemplary process forfacilitating a payload transportation using a UAV, consistent with someembodiments of the present disclosure.

FIG. 6A illustrates an exemplary UAV and an exemplary UAV station,consistent with some embodiments of the present disclosure.

FIG. 6B illustrates an exploded view of a UAV, consistent with someembodiments of the present disclosure.

FIG. 6C illustrates a flow chart of an exemplary process fortransporting a payload using a UAV, consistent with some embodiments ofthe present disclosure.

FIG. 7A illustrates a perspective view of an exemplary landing platform,consistent with some embodiments of the present disclosure.

FIG. 7B illustrates a perspective view of an exemplary landing platformand a landing UAV, consistent with some embodiments of the presentdisclosure.

FIG. 7C illustrates a perspective view of an exemplary landing platformand a landed UAV, consistent with some embodiments of the presentdisclosure.

FIG. 7D illustrates a perspective view of an exemplary landing platformand a landed UAV that is aligned for transporting the payload,consistent with some embodiments of the present disclosure.

FIGS. 7E-7K illustrates perspective views of an exemplary landingplatform fence, consistent with some embodiments of the presentdisclosure.

FIG. 7L illustrates a perspective view of an exemplary landing platform,consistent with some embodiments of the present disclosure.

FIG. 7M illustrates a flow chart of an exemplary process for receiving apayload container from a UAV, consistent with some embodiments of thepresent disclosure.

FIG. 8A is a block diagram illustrating an exemplary UAV landing systemand an exemplary LP landing system, consistent with some embodiments ofthe present disclosure.

FIG. 8B illustrates a flow chart of an exemplary process for landing aUAV on a landing platform, consistent with some embodiments of thepresent disclosure.

FIG. 8C illustrates a flow chart of an exemplary process for landing aUAV on a landing platform based on magnetic heading, consistent withsome embodiments of the present disclosure.

FIG. 8D illustrates a flow chart of an exemplary process for landing aUAV on a landing platform based on differential GPS, consistent withsome embodiments of the present disclosure.

FIG. 9A illustrates a block diagram of an exemplary UAV flighttermination system (FTS) of a UAV, consistent with some embodiments ofthe present disclosure.

FIG. 9B illustrates a block diagram of an exemplary battery manager of aUAV flight termination system, consistent with some embodiments of thepresent disclosure.

FIG. 9C illustrates a block diagram of an exemplary FTS controller of aUAV flight termination system, consistent with some embodiments of thepresent disclosure.

FIG. 9D illustrates a flow chart of an exemplary process for controllingtermination of a UAV flight, consistent with some embodiments of thepresent disclosure.

DETAILED DESCRIPTION

The following description sets forth exemplary systems and methods fortransportation using UAVs. The illustrated components and steps are setout to explain the exemplary embodiments shown, and it should beanticipated that ongoing technological development will change themanner in which particular functions are performed. These examples arepresented herein for purposes of illustration, and not limitation.Further, the boundaries of the functional building blocks have beenarbitrarily defined herein for the convenience of the description.Alternative boundaries can be defined so long as the specified functionsand relationships thereof are appropriately performed. Alternatives(including equivalents, extensions, variations, deviations, etc., ofthose described herein) will be apparent to persons skilled in therelevant art(s) based on the teachings contained herein. Suchalternatives fall within the scope and spirit of the disclosedembodiments. Also, the words “comprising,” “having,” “containing,” and“including,” and other similar forms are intended to be equivalent inmeaning and be open ended in that an item or items following any one ofthese words is not meant to be an exhaustive listing of such item oritems, or meant to be limited to only the listed item or items.

FIG. 1 illustrates an exemplary payload transportation system 100 usingUAVs, consistent with some embodiments of the present disclosure.Referring to FIG. 1 , payload transportation system 100 can include oneor more portable electronic devices 102A-B (collectively referred asportable electronic devices 102), a network 110, a UAV service 120, oneor more UAVs 130A-C (collectively referred as UAVs 130), and one or moreUAV stations 140A-C (collectively referred as UAV stations 140). Payloadtransportation system 100 can enable or facilitate requesting,scheduling, controlling, and/or navigating of UAVs for transportingpayloads to locations.

Portable electronic devices 102A-B include devices that can request,schedule, or facilitate payload transportation through various means.Portable electronic devices 102A-B can communicate with UAV service 120,UAV 130, and/or UAV station 140 either directly or indirectly through anetwork 110. As an example, portable electronic device 102A cancommunicate directly with or identify the payload carried by UAV 130A.As another example, portable electronic device 102A can communicateindirectly with UAV service 120 through network 110 to request payloadtransportation or to provide payload identifications. While portableelectronic devices 102A-B are portrayed as a computer or a laptop (e.g.,portable electronic device 102A), a tablet, and a mobile smart phone(e.g., portable electronic device 102B), it is appreciated that portableelectronic device 102 could be any type of device that communicatesdata.

Network 110 can be any type of network that facilitates wired and/orwireless communications. For example, network 110 can be a cellularnetwork (e.g., GSM, GPRS, CDMA, LTE), a wide-area network (WAN), a localarea network (LAN), a radio network, a satellite network, a Wi-Finetwork, a near-filed communication network, Zigbee, Xbee, XRF, Xtend,Bluetooth, WPAN, line of sight, satellite relay, or any other wired orwireless network, or a combination thereof.

UAV service 120 can communicate with one or more components of payloadtransportation system 100, such as portable electronic devices 102, UAVs130, and UAV stations 140, to facilitate payload transportation usingUAVs. For example, based on communication with portable electronicdevices 102, UAV service 120 can receive requests for transporting apayload, an identification of the payload to be transported, and anidentifications of a payload container. Based on the request orinformation received, UAV service 120 can determine a UAV flight routefor transporting the payload to its destination location. UAV service120 can communicate the flight route information to the UAV that carriesthe payload. In some embodiments, UAV service 120 may continue tocommunicate with the UAV during the flight. After the payload istransported, UAV service 120 may receive a confirmation or notificationof completion. UAV service 120 may include, for example, one or moregeospatial data stores, geospatial caches, one or more applicationservers, one or more application data stores, one or more messagingqueues, and tracking data. UAV service 120 may be provided on a desktopcomputer, a laptop computer, a server (physical or virtual), or a serverfarm. Exemplary UAV services (e.g., UAV service 120) are described indetail in U.S. patent application Ser. No. 13/890,165 filed on May 8,2013, entitled “Transportation Using Network of Unmanned AerialVehicles” (now U.S. Pat. No. 9,384,668); in U.S. Provisional PatentApplication No. 62/138,910 filed on Mar. 26, 2015, entitled “System andMethods for Unmanned Aerial Vehicle Route Planning;” in U.S. ProvisionalPatent Application No. 62/138,914 filed on Mar. 26, 2015, entitled“Unmanned Aerial Vehicle;” and in co-pending U.S. patent applicationSer. No. 15/081,195 filed on Mar. 25, 2016, entitled “Route Planning ForUnmanned Aerial Vehicle.” These applications are incorporated byreference in their entirety for all purposes.

In some embodiments, UAV service 120 can include one or more datastores150. Datastores 150 may include, for example, a time series datastoreand a geospatial datastore. A time series datastore may be a softwaresystem for handling time series data and arrays of numbers indexed bytime (e.g., a datetime or a datetime range). In some embodiments, UAVs130 can transmit telemetry and sensor data to a system for storagewithin a time series datastore or a tracking datastore. These timeseries may also be called as profiles, curves, or traces. An applicationserver of UAV service 120 may further monitor the time series datastoreand/or the tracking datastore to determine trends such as UAV componentsthat require maintenance based on the stored time series data ortracking data.

In some embodiments, a geospatial data store can be an object-relationalspatial database that includes latitude and longitude data. Example dataand data sources for a geospatial data store include, but are notlimited to, terrain data from the National Aeronautics and SpaceAdministration (“NASA”), airspace data from the Federal AviationAdministration (“FAA”), geospatial data from the National Park Service,Department of Defense, and/or other federal agencies, geospatial and/orbuilding data from local agencies such as school districts, and/or somecombination thereof. A geospatial data store may include large amountsof data such as hundreds of gigabytes of data or terabytes of data.

In some embodiments, UAV service 120 can include one or more applicationservers and message brokers. Application servers can perform varioustasks such as processing authentication and authorization, maintaininggeneral purpose data (e.g., UAV names, configurations, flight routes,UAV stations). Message brokers can enable data movement between softwarecomponents or systems in substantially real time for providingauthentication and authorization. Exemplary implementations of variouscomponents of UAV service 120 (e.g., the application services, themessage brokers, the time series datastores, the geospatial datastores)and their interactions are describe in more detail in the U.S.Provisional Patent Application No. 62/138,910 filed on Mar. 26, 2015,entitled “System and Methods for Unmanned Aerial Vehicle RoutePlanning;” in the U.S. Provisional Patent Application No. 62/138,914filed on Mar. 26, 2015, entitled “Unmanned Aerial Vehicle;” and inco-pending U.S. patent application Ser. No. 15/081,195 filed Mar. 25,2016, entitled “Route Planning For Unmanned Aerial Vehicle.” Theseapplications are incorporated by reference in their entirety for allpurposes.

UAV 130 can communicate with one or more components of payloadtransportation system 100, such as UAV service 120 and UAV stations 140,and one or more satellites (not shown) to transport a payload. Forexample, UAV 130A communicates with UAV service 120 to obtain a flightroute for transporting the payload, picks up a payload container withthe payload to be transported, autonomously navigates using the flightroute and satellites signals, and transports the payload to itsdestination location such as a UAV station 140. UAV 130 can include, forexample, a body with an optional payload carrying space, one or morepropellers or fixed wings, a releasable and/or exchangeable battery, anda releasable and/or exchangeable payload container. UAV 130 is describedin more detail with FIGS. 6A-6B.

UAV station 140 can communicate with one or more components, devices, orsystems of payload transportation system 100, such as UAV service 120and UAV 130 to facilitate payload transportation. In some embodiments,UAV station 140 can include a landing platform 144 and an exchangestation 146. A landing platform facilitates landing and launching of aUAV 130. An exchange station 146 can receive a payload, a payloadcontainer, or a battery from a UAV 130; load a payload, a payloadcontainer, or a battery to a UAV 130, or exchange a payload, a payloadcontainer, or a battery with a UAV 130. UAV station 140 may be a mobileor fixed station dedicated for transporting multiple payloads. Forexample, UAV station 140 may include a delivery truck carrying multiplepayloads to be delivered and carrying one or more UAVs 130 fortransporting the payloads. In accordance with the information receivedfrom UAV service 120 (e.g., flight route, payload information, etc.),one or more UAVs 130 may be launched from a UAV station 140 to transportpayloads to their destination locations (e.g., another UAV station 140,a residential address, or a business address). In addition, a UAVstation 140 can also receive one or more UAVs 130. For example, a UAVstation 140 can include a landing platform 144 and an exchange station146. To receive a payload, landing platform 144 communicates with UAV130 to assist landing of a UAV 130 on landing platform 144. In someembodiments, landing platform 144 can align or adjust the position ofthe landed UAV 130 such that the payload container can be released fromUAV 130 to a payload receiving structure of landing platform 144. Forexample, landing platform 144 can include a center opening for receivingor exchanging payload containers. In some embodiments, after UAV 130releases its payload container to exchange station 140, it can receiveanother payload container from exchange station 140 for transporting itto the next destination location.

In some embodiments, landing platform 144 can be mounted, attached, orintegrated to an exchange station 146, such as a transporting vehicle(e.g., delivery truck, a van) or a fixed facility (e.g., a distributionwarehouse). Exchange station 146 can include a payload processingmechanism (e.g., a robot) to enable the receiving and exchanging ofpayload containers or payloads. In some embodiments, exchange station146 can also include a battery exchanging mechanism for exchangingbattery of a landed UAV 130. In some embodiments, the battery exchangingmechanism and the payload processing mechanism may be separatemechanisms or may be integrated to form a single mechanism. UAV station140 is described in more detail below with FIG. 2A.

In some embodiments, UAV station 140 may not be a dedicatedtransportation station. An exchange station 146 of such a UAV station140 may include a user's vehicle (e.g., a consumer's truck, a van, or apassenger car). For example, the user may order a merchandise online andrequests it to be transported to the user's location. UAV service 120schedules the transportation of the merchandise payload to the user'slocation. UAV service 120 communicates the information for transportingthe user's ordered merchandise to a UAV 130, which subsequentlytransports the payload to a UAV station 140, which may include theuser's vehicle (e.g., a van or a car). As described, UAV station 140 caninclude a landing platform 144 to facilitate the landing of UAV 130. Insome embodiments, landing platform 144 can be part of an exchangestation 146 (e.g., the user's truck/van/car, the user's back yard, aroof of a building. etc.). The landing platform 144 may include alanding sub-system (e.g., an infrared beacon). An exchange station 146that includes a user's vehicle (e.g., truck/van/car), rather than adedicated transportation station (e.g., a delivery truck), may typicallybe capable of receiving the payload container using the landing platform144, but may not have the capability of exchanging payload containersand batteries with the UAV 130. In some embodiments, after receiving thepayload container, the UAV 130 may relaunch from UAV station 140 at theuser's location for the next destination (e.g., returning to adistribution facility or another UAV station) according to theinformation provided by UAV service 120. The landing sub-system of a UAVstation 140 is described in more detail with FIGS. 8A-8D.

FIG. 2A illustrates an exemplary UAV station 140 and an exemplary UAV130, consistent with some embodiments of the present disclosure. UAVstation 140 includes, for example, a landing platform 144 and anexchange station 146. In some embodiments, landing platform 144 can be adisc-shaped platform that can facilitate landing of one or more UAVs130. For example, landing platform 144 can be a disc-shaped platformhaving a diameter of about 120 centimeters (cm) and can accommodate twoor more UAVs 130. It is appreciated that landing platform 144 can alsohave any other shapes, such as square shape, rectangular shape, circularshape, elliptical shape, etc. Further, landing platform 144 can alsohave any dimension to accommodate one or more UAVs 130.

In some embodiments, landing platform 144 can be a separate apparatusfrom exchange station 146. For example, landing platform 144 can bedisposed on, mounted to, or attached to the top surface of exchangestation 146. UAV 130 can thus land on landing platform 144 from aboveexchange station 146, as illustrated in FIG. 2A. In some embodiments,landing platform 144 can be integrated with exchange station 146 suchthat it is an integral portion of exchange station 146. For example,landing platform 144 can be integrated with the roof of exchange station146, which can have a cover (e.g., a sliding door or sliding window) ontop of landing platform 144. As a result, when landing platform 144 isnot used, the cover can protect landing platform 144 from dirt, dust,rain, or any external objects (e.g., birds, leaves, etc.). When UAV 130approaches landing platform 144 or is in a landing phase, exchangestation 146 can open the cover to expose landing platform 144 forlanding of UAV 130. In some embodiments, two or more landing platforms144 can be disposed on or integrated with exchange station 146. In someembodiments, landing platform 144 can be part of (e.g., the roof)exchange station 146 (e.g., a user's truck/van/car) and can include alanding sub-system (e.g., an infrared beacon). As described, an exchangestation 146 that includes a user's vehicle (e.g., truck/van/car), ratherthan a dedicated transportation station (e.g., a delivery truck), maytypically be capable of receiving the payload container using thelanding platform 144, but may not have the capability of exchangingpayload containers and batteries with the UAV 130. The landingsub-system is described in more detail with FIGS. 8A-8D.

In some embodiments, landing platform 144 can have a payload receivingstructure for receiving a payload or payload container carried by UAV130. For example, landing platform 144 can have a center opening thathas dimensions corresponding to the dimensions of a payload containerthat UAV 130 carries. As a result, after UAV 130 lands on landingplatform 144 and aligns to the center opening, UAV 130 can release thepayload container to the interior of exchange station 146 through thecenter opening of landing platform 144. In some embodiments, the payloadreceiving structure of landing platform 144 can be a dedicated area ofthe top surface of exchange station 146, and may not include a centeropening. Thus, the payload container may be released to the exterior(e.g., top surface of exchange station 146). The released payloadcontainer can thus be transferred to exchange station 146. Landingplatform 144 is described in more detail with FIGS. 7A-7E.

In some embodiments, exchange station 146 can be a mobile station or afixed station. For example, exchange station 146 can be a deliverytruck, a van, a train, a cargo airplane, or a carrier UAV (e.g., a UAVthat carries multiple payloads), a distribution facility, a warehouse, aground station, etc. In some embodiments, exchange station 146 mayinclude a payload-processing mechanism (e.g., a robot) that handles thetransfer of payloads. For example, exchange station 146 can receive apayload from the landed UAV 130 and/or transfer another payload to UAV130 for transportation. In some embodiments, exchange station 146 caninclude a battery exchange mechanism for exchanging a battery of the UAV130. For example, UAV 130 may include a sensor to detect the batterylevel of the battery, and determine that its battery is depleted orinsufficient for completing the next flight. Based on the determination,a landed UAV 130 releases the battery to exchange station 146 throughthe center opening of landing platform 144. Exchange station 146receives the released battery from the landed UAV 130 and can transfer areplacement battery to the landed UAV 130. Exchanging of a batterybetween an exchange station 146 and a UAV 130 enables the UAV 130 tocontinue transporting payloads without having to sit idle whilere-charge the battery. Further, in some embodiments, the exchangestation 146 can be a mobile station that are capable of travelling toany location, thereby significantly increases the range of payloadtransportation of the UAV.

FIG. 2B is a simplified block diagram illustrating an exemplary portableelectronic device 102, consistent with some embodiments of the presentdisclosure. Portable electronic device 102 can include a communicationdevice having two-way or one-to-many data communication capabilities,voice communication capabilities, and video communication capabilities,and the capability to communicate with other computer systems, forexample, via the Internet. Depending on the functionality provided byportable electronic device 102, in various embodiments, portableelectronic device 102 can be a handheld device, a multiple-modecommunication device configured for both data and voice communication, asmartphone, a mobile telephone, a netbook, a gaming console, a tablet,or a PDA enabled for wireless communication.

Portable electronic device 102 can include a case (not shown) housingcomponent of portable electronic device 102. The internal components ofportable electronic device 102 can, for example, be constructed on aprinted circuit board (PCB). The description of portable electronicdevice 102 herein mentions a number of specific components andsubsystems. Although these components and subsystems can be realized asdiscrete elements, the functions of the components and subsystems canalso be realized by integrating, combining, or packaging one or moreelements in any suitable fashion.

Portable electronic device 102 can include a controller comprising atleast one processor 202 (such as a microprocessor), which controls theoverall operation of portable electronic device 102. Processor 202 canbe one or more microprocessors, field programmable gate arrays (FPGAs),digital signal processors (DSPs), or any combination thereof capable ofexecuting particular sets of instructions. Processor 202 can interactwith device subsystems such as a communication subsystem 204 forexchanging radio frequency signals with a wireless network (e.g.,network 110) to perform communication functions.

Processor 202 can also interact with additional device subsystemsincluding a communication subsystem 204, a display 206 such as a liquidcrystal display (LCD) screen, an light emitting diode (LED) screen, orany other appropriate display, input devices 208 such as a keyboard andcontrol buttons, a persistent memory 210, a random access memory (RAM)212, a read only memory (ROM) 214, auxiliary input/output (I/O)subsystems 216, a data port 218 such as a conventional serial data port,a Universal Serial Bus (USB) data port, or a High-Definition MultimediaInterface (HDMI) data port, a speaker 220, a microphone 222, one or morecameras (such as camera 224), a short-range wireless communicationssubsystem 226 (which can employ any appropriate wireless (e.g., RF),optical, or other short range communications technology (for example,Bluetooth or NFC)), and other device subsystems generally designated as228. Some of the subsystems shown in FIG. 2B performcommunication-related functions, whereas other subsystems can provide“resident” or on-device functions.

Communication subsystem 204 includes one or more communication systemsfor communicating with network 110 to enable communication with externaldevice, such as UAVs 130 and UAV stations 140. The particular design ofcommunication subsystem 204 depends on the wireless network in whichportable electronic device 102 is intended to operate. Portableelectronic device 102 can send and receive communication signals overthe wireless network after the required network registration oractivation procedures have been completed.

Display 206 can be realized as a touch-screen display in someembodiments. The touch-screen display can be constructed using atouch-sensitive input surface, which is coupled to an electroniccontroller and which overlays the visible element of display 206. Thetouch-sensitive overlay and the electronic controller provide atouch-sensitive input device and processor 202 interacts with thetouch-sensitive overlay via the electronic controller.

Camera 224 can be a CMOS camera, a CCD camera, or any other type ofcamera capable of capturing and outputting compressed or uncompressedimage data such as still images or video image data. In someembodiments, portable electronic device 102 can include more than onecamera, allowing the user to switch, during a video conference call,from one camera to another, or to overlay image data captured by onecamera on top of image data captured by another camera. Image dataoutput from camera 224 can be stored in, for example, an image buffer,which can be a temporary buffer residing in RAM 212, or a permanentbuffer residing in ROM 214 or persistent memory 210. The image buffercan be, for example, a first-in first-out (FIFO) buffer.

Short-range wireless communications subsystem 226 is an additionaloptional component that provides for communication between portableelectronic device 102 and different systems or devices, which need notnecessarily be similar devices. For example, short-range wirelesscommunications subsystem 226 can include an infrared device andassociated circuits and components, or a wireless bus protocol compliantcommunication device such as a Bluetooth® communication module toprovide for communication with similarly-enabled systems and devices.

Processor 202 can be one or more processors that operate under storedprogram control and executes software modules 230 stored in atangibly-embodied non-transitory computer-readable storage medium suchas persistent memory 210, which can be a flexible disk, a hard disk, aCD-ROM (compact disk-read only memory), and MO (magneto-optical); aDVD-ROM (digital versatile disk-read only memory); a DVD RAM (digitalversatile disk-random access memory); or a semiconductor memory.Software modules 230 can also be stored in a computer-readable storagemedium such as ROM 214, or any appropriate persistent memory technology,including EEPROM, EAROM, FLASH. These computer-readable storage mediumsstore computer-readable instructions for execution by processor 202 toperform a variety of functions on portable electronic device 102.

Software modules 230 can include operating system software 232, used tocontrol operation of portable electronic device 102. Additionally,software modules 230 can include software applications 234 for providingadditional functionality to portable electronic device 102. For example,portable electronic device 102 can include an application for anoperator or administrator to manage the transportation of payloads usingUAVs 130, and an application for a user (e.g., a transporting vehicledriver) to request or schedule a payload transportation using a UAV 130.

Software applications 234 can include a range of applications,including, for example, a messaging application, a scanner application,a near-filed tag reader, an Internet browser application, a voicecommunication (i.e., telephony or Voice over Internet Protocol (VoIP))application, a mapping application, a media player application, a UAVscheduling application, a payload transportation monitoring application,a payload transportation managing application, or any combinationthereof. Each of software applications 234 can include layoutinformation defining the placement of particular fields and graphicelements (for example, text fields, input fields, icons, etc.) in theuser interface (e.g., display 206) according to that correspondingapplication.

Operating system software 232 can provide a number of applicationprotocol interfaces (APIs) providing an interface for communicatingbetween the various subsystems and services of portable electronicdevice 102, and software applications 234. For example, operating systemsoftware 232 provides a user interface API to any application that needsto create user interfaces for display on portable electronic device 102.Accessing the user interface API can provide the application with thefunctionality to create and manage screen windows and user interfacecontrols, such as text boxes, buttons, and scrollbars; receive mouse andkeyboard input; and other functionality intended for display on display206. Furthermore, a camera service API can allow a video conferenceapplication to access camera 224 for purposes of capturing image data(such as a photo or video data that can be shared with a receivingmobile communication device (e.g., mobile communication device 106)). Ascanner service API can allow a scanning application to access a scanner246 for purpose of barcode scanning, QR code scanning, image scanning,etc.

In some embodiments, persistent memory 210 stores data 236, includingdata specific to a user of portable electronic device 102, such as mapdata, UAV station data, flight route data, etc. Persistent memory 210can additionally store identification data, such as identifiers relatedto particular conferences, or an identifier corresponding to portableelectronic device 102 to be used in identifying portable electronicdevice 102 during conferences. Persistent memory 210 can also store datarelating to various payloads, for example, identifications of payloads(e.g., barcodes), the details of the payloads such as the content of thepayload, the originating location of the payload, the destinationlocation of the payload, etc. Persistent memory 210 can further storedata relating various applications with preferences of the particularuser of, for example, portable electronic device 102. In certainembodiments, persistent memory 210 can store data 236 linking a user'sdata with a particular field of data in an application, such as forautomatically entering a user's name into a username textbox on anapplication executing on portable electronic device 102. Furthermore, invarious embodiments, data 236 can also include service data comprisinginformation required by portable electronic device 102 to establish andmaintain communication with network 110.

In some embodiments, auxiliary input/output (I/O) subsystems 216comprise an external communication link or interface, for example, anEthernet connection. In some embodiments, auxiliary I/O subsystems 216can further comprise one or more input devices, including a pointing ornavigational tool such as a clickable trackball or scroll wheel orthumbwheel; or one or more output devices, including a mechanicaltransducer such as a vibrator for providing vibratory notifications inresponse to various events on portable electronic device 102 (forexample, receipt of an electronic message or incoming phone call), orfor other purposes such as haptic feedback (touch feedback); or anycombination thereof.

In some embodiments, portable electronic device 102 also includes one ormore removable memory modules 238 (typically comprising FLASH memory)and a memory module interface 240. Among possible functions of removablememory module 238 is to store information used to identify orauthenticate a user or the user's account to a wireless network (forexample, network 110). For example, in conjunction with certain types ofwireless networks, including GSM and successor networks, removablememory module 238 is referred to as a Subscriber Identity Module (SIM).Memory module 238 is inserted in or coupled to memory module interface240 of portable electronic device 102 in order to operate in conjunctionwith the wireless network.

Portable electronic device 102 also includes a battery 242, whichfurnishes energy for operating portable electronic device 102. Battery242 can be coupled to the electrical circuitry of portable electronicdevice 102 through a battery interface 244, which can manage suchfunctions as charging battery 242 from an external power source (notshown) and the distribution of energy to various loads within or coupledto portable electronic device 102.

A set of applications that control basic device operations, includingdata and possibly voice communication applications, can be installed onportable electronic device 102 during or after manufacture. Additionalapplications or upgrades to operating system software 232 or softwareapplications 234 can also be loaded onto portable electronic device 102through the wireless network (for example network 110), auxiliary I/Osubsystem 216, data port 218, short-range wireless communicationssubsystem 226, or other suitable subsystem such as 228. The downloadedprograms or code modules can be permanently installed, for example,written into the persistent memory 210, or written into and executedfrom RAM 212 for execution by processor 202 at runtime.

Portable electronic device 102 can provide three principal modes ofcommunication: a data communication mode, a voice communication mode,and a video communication mode. In the data communication mode, areceived data signal such as a text message, an e-mail message, Web pagedownload, VoIP data, or an image file are processed by communicationsubsystem 204 and input to processor 202 for further processing. Forexample, a downloaded Web page can be further processed by a browserapplication, or an e-mail message can be processed by an e-mail messagemessaging application and output to display 206. A user of portableelectronic device 102 can also compose data items, such as e-mailmessages, for example, using the input devices, such as auxiliary I/Osubsystem 216, in conjunction with display 206. These composed items canbe transmitted through communication subsystem 204 over the wirelessnetwork (for example network 110). In the voice communication mode,portable electronic device 102 provides telephony functions and operatesas a typical cellular phone. In the video communication mode, portableelectronic device 102 provides video telephony functions and operates asa video teleconference terminal. In the video communication mode,portable electronic device 102 utilizes one or more cameras (such ascamera 224) to capture video for the video teleconference.

FIG. 2C illustrates an exemplary payload transportation system 260 forfacilitating payload transportation using UAVs, consistent with someembodiments of the present disclosure. Referring to FIG. 2C, payloadtransportation system 260 can include a computer system 261, inputdevices 264, output devices 265, portable electronic devices 102, UAVs130, and UAV stations 140. Computer system 261 can enable or provide aUAV service (e.g., UAV service 120) as described with FIG. 1 . It isappreciated that components of payload transportation system 260 can beseparate systems or can be integrated systems.

In some embodiments, computer system 261 can comprise one or morecentral processing units (“CPU” or “processor(s)”) 262. Processor(s) 262can comprise at least one data processor for executing programcomponents for executing user- or system-generated requests. A user mayinclude a person, a person using a device such as those included in thisdisclosure, or such a device itself. Processor(s) 262 can includespecialized processing units such as integrated system (bus)controllers, memory management control units, floating point units,graphics processing units, digital signal processing units, etc.Processor(s) 262 can include a microprocessor, such as AMD Athlon, Duronor Opteron, ARM's application, embedded or secure processors, IBMPowerPC, Intel's Core, Itanium, Xeon, Celeron or other line ofprocessors, etc. Processor(s) 262 can be implemented using mainframe,distributed processor, multi-core, parallel, grid, or otherarchitectures. Some embodiments may utilize embedded technologies likeapplication-specific integrated circuits (ASICs), digital signalprocessors (DSPs), Field Programmable Gate Arrays (FPGAs), etc.

Processor(s) 262 can be disposed in communication with one or moreinput/output (I/O) devices via I/O interface 263. I/O interface 263 canemploy communication protocols/methods such as, without limitation,audio, analog, digital, monoaural, RCA, stereo, IEEE-1394, serial bus,universal serial bus (USB), infrared, PS/2, BNC, coaxial, component,composite, digital visual interface (DVI), high-definition multimediainterface (HDMI), RF antennas, S-Video, VGA, IEEE 802.11 a/b/g/n/x,Bluetooth, cellular (e.g., code-division multiple access (CDMA),high-speed packet access (HSPA+), global system for mobilecommunications (GSM), long-term evolution (LTE), WiMax, or the like),etc.

Using I/O interface 263, computer system 261 can communicate with one ormore I/O devices. For example, input device 264 can be an antenna,keyboard, mouse, joystick, (infrared) remote control, camera, cardreader, fax machine, dongle, biometric reader, microphone, touch screen,touchpad, trackball, sensor (e.g., accelerometer, light sensor, GPS,gyroscope, proximity sensor, or the like), stylus, scanner, storagedevice, transceiver, video device/source, visors, electrical pointingdevices, etc. Output device 265 can be a printer, fax machine, videodisplay (e.g., cathode ray tube (CRT), liquid crystal display (LCD),light-emitting diode (LED), plasma, or the like), audio speaker, etc. Insome embodiments, a transceiver 266 can be disposed in connection withprocessor(s) 262. The transceiver may facilitate various types ofwireless transmission or reception. For example, the transceiver mayinclude an antenna operatively connected to a transceiver chip (e.g.,Texas Instruments WiLink WL1283, Broadcom BCM4750IUB8, InfineonTechnologies X-Gold 618-PMB9800, or the like), providing IEEE802.11a/b/g/n, Bluetooth, FM, global positioning system (GPS), 2G/3GHSDPA/HSUPA communications, etc.

In some embodiments, processor(s) 262 may be disposed in communicationwith a communication network 110 via a network interface 267. Networkinterface 267 can communicate with communication network 110. Networkinterface 267 can employ connection protocols including, withoutlimitation, direct connect, Ethernet (e.g., twisted pair 10/100/1000Base T), transmission control protocol/internet protocol (TCP/IP), tokenring, IEEE 802.11a/b/g/n/x, etc. As described above, communicationnetwork 110 can include, without limitation, a direct interconnection,local area network (LAN), wide area network (WAN), wireless network(e.g., using Wireless Application Protocol), the Internet, etc. Usingnetwork interface 267 and communication network 110, computer system 261can communicate with portable electronic devices 102. These devices mayinclude, without limitation, personal computer(s), server(s), faxmachines, printers, scanners, various mobile devices such as cellulartelephones, smartphones (e.g., Apple iPhone, Blackberry, Android-basedphones, etc.), tablet computers, eBook readers (Amazon Kindle, Nook,etc.), laptop computers, notebooks, gaming consoles (Microsoft Xbox,Nintendo DS, Sony PlayStation, etc.), or the like. In some embodiments,computer system 261 may itself embody one or more of these devices.

In some embodiments, using network interface 267 and communicationnetwork 110, computer system 261 can also communicate with UAVs 130and/or UAV stations 140. For example, computer system 261 cancommunicate with UAVs 130 to provide flight route for transportingpayloads and communicate with UAV stations 140 to receive payloaddelivery confirmations.

In some embodiments, processor(s) 262 can be disposed in communicationwith one or more memory devices (e.g., RAM 273, ROM 274, etc.) via astorage interface 272. Storage interface 272 can connect to memorydevices including, without limitation, memory drives, removable discdrives, etc., employing connection protocols such as serial advancedtechnology attachment (SATA), integrated drive electronics (IDE),IEEE-1394, universal serial bus (USB), fiber channel, small computersystems interface (SCSI), etc. The memory drives may further include adrum, magnetic disc drive, magneto-optical drive, optical drive,redundant array of independent discs (RAID), solid-state memory devices,flash devices, solid-state drives, etc.

Memory devices 275 can store a collection of program or databasecomponents, including, without limitation, an operating system 276, userinterface application 277, flight route planning algorithms 278, UAVflight routes 279, payload transportation data 280, user/applicationdata 281 (e.g., any data variables or data records discussed in thisdisclosure), etc. Operating system 276 can facilitate resourcemanagement and operation of computer system 261. Examples of operatingsystems include, without limitation, Apple Macintosh OS X, Unix,Unix-like system distributions (e.g., Berkeley Software Distribution(BSD), FreeBSD, NetBSD, OpenBSD, etc.), Linux distributions (e.g., RedHat, Ubuntu, Kubuntu, etc.), IBM OS/2, Microsoft Windows (XP, Vista/7/8,etc.), Apple iOS, Google Android, Blackberry OS, or the like.

User interface 277 can facilitate display, execution, interaction,manipulation, or operation of program components through textual orgraphical facilities. For example, user interfaces can provide computerinteraction interface elements on a display system operatively connectedto computer system 261, such as cursors, icons, check boxes, menus,scrollers, windows, widgets, etc. Graphical user interfaces (GUIs) maybe employed, including, without limitation, Apple Macintosh operatingsystems' Aqua, IBM OS/2, Microsoft Windows (e.g., Aero, Metro, etc.),Unix X-Windows, web interface libraries (e.g., ActiveX, Java,Javascript, AJAX, HTML, Adobe Flash, etc.), or the like.

In some embodiments, computer system 261 can implement flight routeplanning algorithms 278. Flight route planning algorithms 278 caninclude processes to determine or calculate flight routes for UAV 130 totransport a payload from an originating location to a destinationlocation. Flight route planning algorithm 278 may determine the flightroute based on, for example, location data, geospatial data, obstacledata, avoidance zones, latitude, longitude, and altitude data. Exemplaryflight route planning algorithms 278 are described in more detail in theU.S. Patent Application No. 62/138,910 filed on Mar. 26, 2015, entitled“System and Methods for Unmanned Aerial Vehicle Route Planning”(Attachment B) and in U.S. Patent Application No. 62/138,914 filed onMar. 26, 2015, entitled “Unmanned Aerial Vehicle” (Attachment C).Computer system 261 can also store UAV flight routes 279 (e.g., saveprevious determined UAV flight routes) and payload transportation data280 (e.g., payload transporting requests, payload descriptions, and/orpayload transportation confirmation).

In some embodiments, computer system 261 may store user/application data121, such as data, variables, and parameters as described in thisdisclosure. Such databases may be implemented as fault-tolerant,relational, scalable, secure databases such as Oracle or Sybase.Alternatively, such databases may be implemented using standardized datastructures, such as an array, hash, linked list, struct, structured textfile (e.g., XML), table, or as object-oriented databases (e.g., usingObjectStore, Poet, Zope, etc.). Such databases may be consolidated ordistributed, sometimes among the various computer systems discussedabove in this disclosure. It is to be understood that the structure andoperation of any computer or database component may be combined,consolidated, or distributed in any working combination.

Mobile Application for Operator

FIGS. 3A-3X illustrate an exemplary user interface 300 of an applicationfor facilitating payload transportation using a UAV, consistent withsome embodiments of the present disclosure. User interface 300 can beprovided by, for example, an application (e.g., applications 234) of aportable electronic device (e.g., portable electronic device 102) shownin FIG. 2B. In some embodiments, user interface 300 provides an imageindicating whether the application is for an administrator or atransporter. An administrator can be a user who oversees or manages aUAV service for transporting payloads using one or more UAVs. Atransporter can be a user who requests, schedules, or delivers payloads.For example, the administrator can be a UAV service administrator or anoperator. And the transporter can be an exchange station driver such asa transporting vehicle driver. As illustrated in FIG. 3A, user interface300 indicates that the underlying application is for an administrator oran operator.

In some embodiments, the portable electronic device also providesauthentication regions (not shown) on user interface 300. For example,the authentication regions can include a user name region and a passwordregion for authenticating the user. Thus, a user may need to enter hisor her user name and password before the portable electronic deviceallows the user to use the application or displays the next userinterface (e.g., user interface 304 shown in FIG. 3B). It is appreciatedthat the authentication can be any process that confirms the user'sidentity. For example, the portable electronic device can authenticatethe user by validating his or her identity documents, verifying theuser's biometric characteristics, verifying a digital certificate, orverifying an encryption key.

FIG. 3B illustrate an exemplary user interface 304 of an application forfacilitating payload transportation using a UAV, consistent with someembodiments of the present disclosure. User interface 304 can beprovided by an application (e.g., application 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. User interface 304 may include a plurality of regions, such as anactive flight region, a flight scheduling region, and an assetmanagement region. An active flight region displays informationassociated with an active flight. An active flight can be a flight thatis scheduled, in-flight, or otherwise remaining in a mission fortransporting a payload. For example, a UAV (e.g., UAV 130) is in anactive flight when it has not completed the current mission fortransporting a payload. Referring to FIG. 3B, on user interface 304, theportable electronic device may display “NO ACTIVE FLIGHTS” in the activeflight region of user interface 304, indicating that there is currentlyno active flights.

Referring to FIG. 3B, the portable electronic device can also display“Schedule New Flight” text in the flight scheduling region of userinterface 304. This “Schedule New Flight” text enables the user toschedule a new flight. The portable electronic device can furtherdisplay a plurality of asset management icons in the asset managingregion. For example, the asset management icons include a “Team Members”icon for managing team members (e.g., transporters), a “Vehicles” iconfor managing vehicles (e.g., UAVs), a “Stations” icon for managingstations (e.g., UAV stations, landing platforms, or exchange stations),and a “Routes” icon for managing UAV flight routes. As an example, auser can obtain or manage the team members' information by selecting theteam members icon. After the user selects the “Team Members” icon (e.g.,by touching the “Team Members” icon displayed in the asset managementregion of user interface 304), the portable electronic device candisplay the information associated with a plurality of team members,such as the names of other operators who have access to the UAVs, UAVstations and routes of the same network.

Similarly, a user can obtain or manage the UAVs, the UAV stations, andthe routes by selecting the “Vehicles” icon, the “Stations” icon, or the“Routes” icon, respectively, as shown on user interface 304. After theuser selects the respective icons (e.g., by touching the desired iconsdisplayed in the asset management region of user interface 304), theportable electronic device can display the information associated withthe respective icons. For example, the portable electronic device candisplay the number of UAVs, the locations of the UAVs, the status of theUAVs (e.g., active, inactive, in-flight, etc.), the number of UAVstations, the locations of the UAV stations, the status of the UAVstations, the save flight routes, and any information associated with aparticular flight route. The status of the UAV stations can include thenumber of UAVs landed on the landing platforms of the UAV stations, thenumber of remaining payloads of the UAV stations, and any other logisticinformation associated with the UAV stations. The information associatedwith a particular flight route includes, for example, the estimated timeand distance for a flight route, the altitude information of the flightroute, and whether a particular flight route is affected by a changingweather.

FIGS. 3C and 3D illustrate exemplary user interfaces 310 and 312,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 310 and 312 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. Similar to user interface 304,user interface 310 also includes a plurality of regions such as theactive flight region, the flight scheduling region, and the assetmanagement region. In the active flight region of user interface 310,the portable electronic device can display information associated withan active flight. For example, it can display the takeoff location ofthe UAV used in the active flight (e.g., JW Marriott), the scheduledlanding location of the UAV (e.g., the Mohawk), the identification ofthe UAV (e.g., M1-Calder), the battery status of the UAV (e.g., 23.92V),the estimated time of arrival (ETA) (e.g., 00:14:06), the time in flight(e.g., 00:01:06), and the altitude of the UAV (e.g., above ground level(AGL) 93 meters). The flight scheduling region and the asset managementregion on user interface 310 can be substantially similar to those onuser interface 304 described above, and thus are not repeatedlydescribed.

Referring to FIG. 3D, in some embodiments, the portable electronicdevice can display multiple active flights in the active flight region.For example, the active flight region of user interface 312 illustratestwo active flights. Further, in the active flight region, the portableelectronic device can display information in various forms. For example,the scheduled landing location of the second flight (i.e., the flighthaving a takeoff location of MCH1) is displayed using coordinates orpositions rather than a name of the destination location. The flightscheduling region and the asset management region on user interface 312can be substantially similar to those on user interface 304 describedabove, and thus are not repeatedly described.

FIGS. 3E and 3F illustrate exemplary user interface 316 and 318,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 316 and 318 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. In some embodiments, theportable electronic device can display a map on user interface 316 toenable the user to select an originating location of a UAV flight. Anoriginating location can be a location where the UAV takes off (e.g., atakeoff location) or a location where the payload originates (e.g., alocation where the payload is received). In the present description, theoriginating location and the takeoff location may or may not be the samelocation. The map can display an icon of a UAV station that is locatedin the area shown on the map. For example, a UAV station may be locatedat the JW Marriott hotel and the portable electronic device displays anicon of that UAV station with a label indicating “JW Marriott.” In someembodiments, the portable electronic device can display a map thatallows a user to select an arbitrary location on the map. For example, auser may determine that the “JW Marriott” UAV station is not convenientor is not available to be a takeoff location, the user can thus selectan arbitrary location on the map as the takeoff location. In someembodiments, the user can select the takeoff location by either tappingon a UAV station icon or by long pressing (e.g., pressing and holding)an arbitrary location on the map.

In some embodiments, the portable electronic device may not display amap or may display a map with a text input region. For example, theportable electronic device may display a text input region to allow theuser to provide the description or coordinates of the takeoff location.Further, referring to FIG. 3E, the portable electronic device may alsoprovide one or more messages on user interface 316. For example, theportable electronic device may display a message stating “Set a takeofflocation by tapping a station or long pressing an arbitrary point on themap.” The message provides instructions to the user for operating usinguser interface 316.

Similar to FIG. 3E, FIG. 3F illustrates user interface 318 that includesa map for enabling the user to select a takeoff location of a UAVflight. On the map, the portable electronic device can display icons ofmultiple (e.g., two) UAV stations (e.g., JW Marriott station and S.Congress Bats station). A user may select one or these UAV stations asthe takeoff location by tapping on one of the UAV station icons. A usermay also determine that both of these UAV stations are not convenient ornot available. The user may thus select an arbitrary location on the mapto be the takeoff location. For example, the user may long press anarbitrary location 319 on the map. In response, the portable electronicdevice displays a mark (e.g., a concentric circles icon) identifying thetakeoff location that the use selects.

Referring to FIG. 3F, in some embodiments, the portable electronicdevice can also display a menu bar region on user interface 318. Forexample, the menu bar region may be located at the bottom of userinterface 318 and includes a menu bar 320. Menu bar 320 can include aplurality of icons allowing the user to go-back to the previous userinterface, go-forward to the next user interface, invoke a settings userinterface, invoke a user interface for displaying UAV stations, and orinvoke a user interface for adding a UAV station. In some embodiments,some of the icons on user interface 318 can be greyed out or disabled ifthe portable electronic device detects no user input or insufficientuser input. For example, the portable electronic device may disable a“Next” button before it receives the user input for selecting a takeofflocation.

FIGS. 3G and 3H illustrate exemplary user interfaces 322 and 324,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 322 and 324 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. In some embodiments, after theportable electronic device receives a user input to select a takeofflocation of the UAV and/or receives the user's selection of a “Next”button, the portable electronic device displays user interface 322. Userinterface 322 can provide one or more messages instructing the user toselect a destination location for the UAV. A destination location can bea location the UAV releases the payload (e.g., a landing location) orcan be a location where the payload is intended to be received. Thedestination location may or may not be the same as the landing location.For example, in a message region of user interface 322, the portableelectronic device may display a message instructing the user to “Choosea landing location by taping a station or tapping and holding anarbitrary point on the map.” Similar to the selection of a takeofflocation, user interface 322 allows the user to select a destinationlocation or landing location by tapping on an existing UAV station orlong pressing an arbitrary location on the displayed map.

Referring to FIG. 3H, in some embodiments, after the portable electronicdevice receives a user selection of the destination location, theportable electronic device can obtain a determination of a flight routeand display the flight route between the takeoff location and thelanding location. As an example, the portable electronic device canreceive a user input indicating a selected landing location and displaysthe landing location on user interface 324. The portable electronicdevice can then provide the users selection of takeoff location andlanding location to a UAV service (e.g., UAV service 120). The UAVservice can determine whether there is a viable flight route between thetakeoff location and the landing location. For example, the UAV servicedetermines whether there are obstacles, flight avoidance zones (e.g., anairport), or other factors interfering a flight between the takeofflocation and the landing location. And if there are such interferingfactors, the UAV service can determine whether a flight is still viableby, for example, taking an alternative route. The flight routedetermination or planning is described in more detail in U.S.Provisional Patent Application No. 62/138,910 filed on Mar. 26, 2015,entitled “System And Methods For Unmanned Aerial Vehicle RoutePlanning;” in U.S. Provisional Patent Application No. 62/138,914 filedon Mar. 26, 2015, entitled “Unmanned Aerial Vehicle;” and in co-pendingU.S. patent application Ser. No. 15/081,195 filed Mar. 25, 2016,entitled “Route Planning For Unmanned Aerial Vehicle.” Theseapplications are incorporated by reference in their entirety for allpurposes. If the UAV service determines there is a viable flight routebetween the selected takeoff location and the landing location, the UAVservice provides the determined flight route to the portable electronicdevice. The portable electronic device can thus display, for example, aline between the takeoff location and the destination locationindicating a viable flight route.

Referring to FIG. 3H, in some embodiments, after the portable electronicdevice displays a viable flight route between the selected takeofflocation and the landing location, user interface 324 can allow the userto add additional locations and/or change the existing locations. Forexample, user interface 324 may display a message stating “Long press onarbitrary points on map to add additional fly to points if desires.Points can be moved by dragging them.” Thus, if a user desires to add anadditional takeoff and/or landing location, the user can repeat theabove described process (e.g., tap on another UAV station or long pressanother arbitrary location on the map) to select additional takeoffand/or landing locations. In response to such a selection, the portableelectronic device can repeat the process to obtain determinationsindicating whether viable flight routes to the additional locationsexist. Based on such determinations, user interface 324 can display oneor more additional viable flight routes. Further, user interface 324 canallow the user to move a selected location to another location (e.g.,allowing dragging of a selected arbitrary location) on the map. Inresponse to such user movement, the portable electronic device canobtain further determination indicating whether a viable flight routeexists for the new location. Based on the determination, user interface324 can display such viable flight routes.

FIGS. 3I and 3J illustrate exemplary user interfaces 326 and 328,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 326 and 328 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. User interface 326 is the sameor substantially the same as user interface 322 illustrated in FIG. 3G,and thus is not repeatedly described here.

As described above, after receiving user inputs of the takeoff locationand the landing location, the portable electronic device can obtain adetermination indicating whether a viable flight route exists betweenthe two locations. In some embodiments, the determination may indicatethat there is no viable flight route. For example, the flight betweenthe two locations may not be viable because the flight route isinterfered by obstacles, by flight avoidance zones, or by severe weatherconditions. The flight route may also not be viable if the power supplyof the UAV (e.g., a battery) is not sufficient to support such a flight.

In some embodiments, a UAV service may fail to determine a viable flightroute between the selected takeoff location and the landing location.For example, such determination may fail because there is insufficientgeospatial data and/or weather information, because the selected landinglocation is in an avoidance zone, or because the selected landinglocation is known to have has no or weak satellite or cellular signalcoverage. As a result, if the UAV service fails to determine a flightroute or the portable electronic device fails to obtain a determinationof a flight route, user interface 328 may display a message requestingthe user to manually complete the flight route determination orplanning. For example, as shown in FIG. 3J, user interface 328 maydisplay a message stating “Automatic Route Planning Failure. Pleasemanually complete the path to the landing point.”

FIGS. 3K and 3J illustrate exemplary user interfaces 332 and 336,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 332 and 336 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. As discussed above, after theuser selects the landing location, the portable electronic device candisplay a viable flight route on a corresponding user interface. In someembodiments, the portable electronic device can display user interface332 for acquiring altitude information. For example, in response to theuser's selection of the “Next” button shown on user interface 324 ofFIG. 3H, the portable electronic device displays user interface 332 ofFIG. 3K.

Referring to FIG. 3K, user interface 332 may display a messageinstructing the user to provide a desired altitude. For example, suchmessage may state “Set desired altitude above ground level. This shouldbe high enough to clear ground obstacles like trees and buildings, butlower than legal limits.” User interface 332 can also provide a textinput region, a sliding scale input, a drop menu, or any other inputmechanisms for the user to provide the altitude value. As an example,user interface 332 may provide a sliding scale for allowing the user toselect an altitude (e.g., 115 m AGL). In some embodiments, in responseto the user's selection, the portable electronic device can provide theuser input to a UAV service (e.g., UAV service 120) for determination ofthe minimum altitude (e.g., floor altitude of 90 m) and the maximumaltitude (e.g., ceiling altitude of 120 m). The portable electronicdevice can obtain such determination and display such information onuser interface 332. In some embodiments, after obtaining thedetermination of the flight route, the portable electronic device canobtain determination of the altitude without the user's input. Forexample, the UAV service can automatically determine the altitude basedon data associated with the determined flight route, and provide thedetermination to the portable electronic device.

Referring to FIG. 3L, in some embodiments, after the portable electronicdevice receives the user input of the altitude information or obtainsthe altitude information from the UAV service, it can display userinterface 336. User interface 336 can provide information or flightparameters associated with the determined flight route for the user'sreview or confirmation. For example, user interface 336 can providedistance information showing that for a particular flight route, the UAVmay travel 9.5 km with 205 m ascent distance and 215 m descent distance.User interface 336 can also provide altitude above ground (AGL)information showing, for example, the maximum AGL may be set at 120 mand the average altitude may be 91 m. User interface 336 can alsoprovide altitude above mean sea level (AMSL) information showing that,for example, the maximum AMSL may be 873 m, the minimum AMSL may be 546m, and the average AMSL may be 745 m.

In some embodiments, user interface 336 can also provide additionalinformation such as the time estimate for the flight (e.g., 00:15:12)and/or the speeds of the UAV (e.g., forward speed of 10 mps, ascentspeed of 2.5 mps, and descent speed of imps). Further, user interface336 can display a message instructing the user to confirm the flightinformation is correct. For example, such message may state “Confirmeverything is correct and hit save to save the route.” User interface336 can display a “Save” button to allow saving of the determined flightroute and associated flight parameters. If one or more of the flightparameters are incorrect, user interface 336 allows the user to go backto previous user interfaces to change the inputs (e.g., the landinglocation, the altitude, etc.).

FIGS. 3L1-3L3 illustrate exemplary user interface 336 providingadditional information regarding the risk assessment of flight routeplanning. As discussed above, the UAV service (e.g., UAV service 120)can determine a flight route based on the user's inputs (e.g., takingoff location, landing location, altitude, etc.) In some embodiments, theUAV service determines such flight route using hardware and/or softwaretools such as automatic obstacle avoidance and terrain-aware verticalplanning. The UAV service and/or the portable electronic device can alsoperform risk assessment of a determined flight route. For example, theUAV service may perform a risk assessment based on data related to thegeographical areas along the determined flight route, the UAV'shistorical data, and one or more risk assessment algorithms.

As an example, the UAV service can obtain population density data fromdatastores 150. Datastore 150 may obtain the population density datafrom various resources such as a website providing information of FSOSTATPOP 100 m resolution (e.g.,http://www.bfs.admin.ch/bfs/portal/de/index/news/02/03/01/01.html). TheUAV service can also obtain a particular UAV's empirical velocity data,such as a velocity lookup table as shown in Table 1 below.

TABLE 1 An exemplary UAV empirical velocity lookup table. Example ClimbAngie Ideal Navigation Speed 90° 2.5 m/s  45° 10 m/s  0° 17 m/s −45°   5 m/s −90°   1.5 m/s 

The UAV service can further obtain a particular UAV's impact area data,which may represent impact area sizes corresponding with various phasesof flight such as takeoff, ascent, forward flight, descent, and landing.The impact area data may be in the form of a lookup table such as theone shown in Table 2 below.

TABLE 2 An exemplary UAV impact area lookup table. Example Flight PhaseImpact Area Takeoff 1 m² Ascent 4 m² Forward Flight 16 m²  Descent 4 m²Landing 1 m²

Based on the data obtained, the UAV service can determine a riskquotient, which represents the risk assessment of a determined flightroute. For example, the UAV service can determine the risk quotientbased on a risk quotient algorithm or formula. An exemplary riskquotient formula is shown below as formula 1.

$\begin{matrix}{R_{c} = {{\sum\limits_{i = 1}^{m}R_{ci}} = {{\sum\limits_{i = 1}^{m}{P_{ci}*A_{ci}*D_{i}}} = {{\sum\limits_{i = 1}^{m}{P_{c}\frac{T_{i}}{T}*A_{ci}*D_{i}}} = {P_{c}*{\sum\limits_{i = 1}^{m}{\frac{T_{i}}{T}*A_{ci}*D_{i}}}}}}}} & {{Formula}1}\end{matrix}$In formula 1, R_(c) represents the mean risk per mission; P_(c)represents probability of a crash during the mission; A_(c) representsthe UAV's “lethal area;” D_(i) represents the population density in eachsegment of the mission; T_(i) represents the time spent over eachsegment of the mission; and T represents the overall mission time. Amission may include one or more segments along a flight route.

In some embodiments, for determining the risk quotient, the UAV servicesubdivides the horizontal path of a flight route into grid squares sizedaccording to the resolution of the population density data. A gridsquare may represent a segment of the flight route. For each gridsquare, the UAV service can determine the local risk quotient using theimpact area value for the current phase or segment of flight, and thepopulation density for the particular grid square. The UAV service canalso determine the amount of time spent flying over the grid squareusing the velocity lookup table (e.g., Table 1) and the current climbangle of the UAV. The UAV service can determine the overall riskquotient by producing a weighted average of all local risk quotients.The weighted average can be based on local travel time weighting.

Referring to FIGS. 3L1-3L3, after the UAV service determines the riskquotient of the determined flight route, it can provide the riskquotient to the user's portable electronic device. The portableelectronic device can display, for example, the risk quotient, a messageindicating whether the risk is in an acceptable range, and a graphicalrepresentation of the risk assessment. As an example, if the determinedrisk quotient is in an unacceptable range, user interface 336 mayprovide the risk quotient number (e.g., “5.2”) and a message indicatingthat it is “UNACCEPTABLE” (FIG. 3L1). As another example, if thedetermined risk quotient is in an acceptable range, user interface 336may provide the risk quotient number (e.g., “6.9”) and a messageindicating that it is “ACCEPTABLE” (FIG. 3L2).

Referring to FIG. 3L3, in some embodiments, if the risk assessment is“UNACCEPTABLE,” a user (e.g., an operator or an administrator) may needto adjust the inputs such that the risk assessment becomes “ACCEPTABLE.”To facilitate such adjustments, user interface 336 can display, forexample, a pop-up window or an area providing risk formula terms orparameters. As shown in FIG. 3L3, user interface 336 can provide meantime between unplanned landings (MTBUPL, e.g., 48 hours), the impactareas, the battery capacity of the UAV, and the ideal navigation speed.Based on the displayed risk formula terms or parameters, the user mayadjust the inputs (e.g., horizontal path inputs such as the takeofflocation and the landing location, and vertical path inputs such as thealtitude). After the user adjusts one or more of the inputs, theportable electronic device can provide the adjusted or updated inputs tothe UAV service, which may repeat the risk assessment process asdescribed above. The adjustments of inputs and risk assessments can beadjusted as many times as desired to place the risk quotient in anacceptable range.

FIGS. 3M and 3N illustrate exemplary user interfaces 342 and 346,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 342 and 346 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. As discussed above, theportable electronic device can allow a user to confirm and save adetermined flight route and associated flight parameters. The portableelectronic device can also provide user interfaces 342 and 346 to allowthe user to initiate the flight of the UAV. For example, user interface342 provides a control switch (e.g., a slide switch) for turning on thepropellers of the UAV. In response to receiving the user input to turnon the propellers, the portable electronic device can communicatedirectly or indirectly (e.g., through a UAV service) with the UAV toturn on the propellers of the UAV. In some embodiments, user interface342 also provides a plurality of flight parameters such as estimatedtime of arrival (ETA), the time in flight, the remaining distance to thedestination, the AGL, etc. Using the control switch such as the oneshown on user interface 342, the user can turn on the propellers of theUAV and therefore prepare the UAV for taking off.

Referring to FIG. 3N, after the portable electronic device receives userinput to turn on the propellers, it can display user interface 346. Userinterface 346 can indicate that the propellers of the UAV are turned onand provide a control button for initiating the flight (e.g., a“takeoff” button). For example, the user may touch or push the controlbutton on user interface 346 to initiate the flight. In someembodiments, user interface 346 can also display information associatedwith the flight. Such information includes, for example, the estimatedtime of arrival (ETA), the time in flight, the remaining distance to thedestination, and the AGL.

FIGS. 3O and 3P illustrate exemplary user interfaces 352 and 356,respectively, of an application for facilitating payload transportationusing a UAV, consistent with some embodiments of the present disclosure.User interfaces 352 and 356 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. Referring to FIG. 3O, in someembodiments, after the UAV flight is initiated, the portable electronicdevice can provide user interface 352 to allow interruption of the UAVflight. As discussed above, a UAV is capable of autonomous flight afterthe flight route is configured. Therefore, after the UAV takes off, theUAV can fly and transport the payload it carries to the destinationwithout control or further interference of the user. For example, theportable electronic device may indicate that the UAV is in the mode ofautomatic flight or auto pilot by displaying “automatic flight on” onuser interface 352.

Under some circumstances, the user may wish to interrupt the flight. Forexample, the user may wish to interrupt the flight if there is a recentchange of destination for delivering the payload; if there is a suddenweather change along the flight route; or if the UAV is not in a goodcondition to complete the flight. In some embodiments, the portableelectronic device provides a flight interruption switch on userinterface 352. For example, user interface 352 can display a slidingswitch to allow the user to interrupt the flight. Similar to userinterface 346, user interface 352 can also provide informationassociated with the UAV flight such as the estimated time of arrival(ETA), the time in flight, the remaining distance to the destination,the AGL, etc. In some embodiments, user interface 352 may also providethe current location of the UAV by displaying an icon representing theUAV on the map.

Referring to FIG. 3P, if the portable electronic device receives a userinput to interrupt a flight, it can display a flight interruption menuon user interface 356. The flight interruption menu can include aplurality of selections such as “Hold Position,” “Reverse Course,” or“Land Now.” The selections can allow the user to control the UAVaccordingly. For example, if the portable electronic device receives auser selection indicating to “Hold Position,” the portable electronicdevice can communicate with the UAV (e.g., via a UAV service) to holdthe current location until further instructions. If the portableelectronic device receive a user selection indicating to “ReverseCourse,” it can communicate with the UAV to abandon the current flightto the destination location and instead to fly back to the takeofflocation. If the portable electronic device receives a user selectionindicating to “Land Now,” it communicates with the UAV to look for anearby suitable landing place and/or land the UAV immediately. In someembodiments, the communication between the portable electronic deviceand the UAV may be a direct communication using, for example, cellularor radio communications. In some embodiments, the communication may bean indirect communication facilitated by a UAV service (e.g., UAVservice 120).

Referring to FIG. 3P, the UAV interruption menu can also include a“cancel” selection to allow the portable electronic device to go back toa previous interface (e.g., user interface 352). As a result, the UAVflight may not be interrupted. In some embodiments, the flightinterruption menu overlaps a background image (e.g., a greyed out imageof the map and the information associated with the flight parameters).

FIGS. 3Q, 3R, 3S, and 3T illustrate exemplary user interfaces 362, 364,366, and 368 respectively, of an application for facilitating payloadtransportation using a UAV, consistent with some embodiments of thepresent disclosure. User interfaces 362, 364, 366, and 368 can beprovided by an application (e.g., application 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. In some embodiments, the portable electronic device allows the userto load an airspace model associated with a UAV flight route. Anairspace model can be, for example, a model that includes informationrequired or employed for analyzing a flight route and/or for providinginformation to an administer or operator for flight route planning. Anairspace model can be a collection of 2D or 3D geographic datasets,including, for example, a digital elevation model, polygonal data suchas the locations of restricted or protected airspace, line string andpoint data indicating the location of navigation hazards like powerlines and towers, and other data (e.g., the population density, etc.)that may impact the safe navigability of a UAV flight route.

For example, an airspace model may include a terrain model, which canprovide earth elevation (e.g., elevation above sea level) repeatedly,periodically, or continuously (e.g., in every 30 meters within accuracyof 30 meters). The terrain model can also provide locations, heights,and/or geometries of high or elevated obstacles, such as power lines,cellular towers, buildings, etc. An airspace model may also include amodel showing restricted airspace such as class B airspaces, orairspaces otherwise closed to UAV operation. An airspace model may alsoinclude population density data showing areas of higher populationdensity that the operator may wish to avoid during flight route planningand areas of lower population density that the operator may wish toinclude during flight route planning. In some embodiments, an airspacemodel may also include weather data. For example, there may be areas inlower Manhattan of New York City that are deemed unsafe for UAVoperation due to high winds between buildings. Thus, before initiating aUAV flight, the user may wish to load the airspace model associated withthe determined flight route to determine, verify, or ensure the actionsthe UAV takes complies with all the airspace regulations and rules.

In some embodiments, an airspace model may be required for flight routeplanning. Thus, if an airspace model is not available, the portableelectronic device can display a corresponding message (e.g., “AirspaceModel Not Available”), as illustrated in user interface 362 of FIG. 3Q.If an airspace model is available, the portable electronic device and/orthe UAV service (e.g., UAV service 120) can load the model for flightroute planning. Correspondingly, the portable electronic device candisplay a message (e.g., “Airspace Model Loading 40%” or “Airspace ModelLoading . . . ”) showing the progress of the loading, as illustrated onuser interfaces 364 or 366 of FIGS. 3R and 3S. After the airspace modelloads, the portable electronic device can display an icon indicatingthat the model is loaded, as illustrated on user interface 368 of FIG.3T. As a result, a flight route planning may begin using the loadedairspace model.

FIGS. 3U, 3V, 3W, and 3X illustrate exemplary user interfaces 370, 374,378, and 380, respectively, of an application for facilitating payloadtransportation using a UAV, consistent with some embodiments of thepresent disclosure. User interfaces 370, 374, 378, and 380 can beprovided by an application (e.g., application 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. In some embodiments, the portable electronic device can provide oneor more UAV flight connections associated with a flight routedetermination. A UAV flight connection may be required if the distancebetween the originating location and the destination location is beyondthe maximum distance that the UAV can fly without a recharge of itsbattery. In some embodiment, the portable electronic device may provideone or more user interfaces to allow the user to configure one or moreconnections for a particular flight route. For example, referring toFIG. 3U, user interface 370 provides a flight route from an originatinglocation (e.g., Liebistorf Clubhouse) to a connection location (e.g.,Kerzers Hill Landing). User interface 370 can also provide informationassociated with such flight route. For example, user interface 370 mayprovide that the flight route from the originating location LiebistorfClubhouse to the connection location Kerzers Hill Landing is viaRandlefleingn. Further, in some embodiments, user interface 370 canallow the user to associate alternate route other than the existingflight routes.

Referring to FIG. 3V, in some embodiments, the portable electronicdevice can provide user interface 374 to allow the user to addadditional connection locations. For example, user interface 374 candisplay the current connection location (e.g., Kerzers Hill Landing”)and also display an option to add new connection locations.Alternatively, referring to FIG. 3W, user interface 378 can display onlythe option to add new connection locations if there is no currentconnection.

Referring to FIG. 3X, after the portable electronic device receives auser input to add a new connection location, it can provide a pluralityof connection locations that are available for selection. For example,user interface 380 can display connected UAV stations such asLieebistorf Clubhouse, Kerzers Hill Landing, and Sindleflingen Station.It may also provide unconnected UAV stations such as Mont Vully. UAVstations can be connected by one or more flight routes. Unconnected UAVstations may be stations that are not connected by any flight route.Based on the connected and unconnected UAV stations, a flight routegraph can be obtained for flight route planning by the UAV service. Forexample, the flight route graph may allow for shortest path algorithmsto resolve a route between UAV stations using routes as graph edges. Insome embodiments, edges can be weighted by attributes such as distance,travel time, safety risk, occupancy, etc.

FIG. 3Y illustrates a flow chart of an exemplary process 390 forfacilitating payload transportation using a UAV, consistent with someembodiments of the present disclosure. Some features of the process 390are illustrated in FIGS. 1, 2A-2C, and 3A-3X and accompanyingdescriptions. In some embodiments, the process 390 can be performed by aportable electronic device (e.g., portable electronic device 102 inFIGS. 1 and 2B).

In the process 390, a portable electronic device (e.g., portableelectronic device 102 in FIGS. 1 and 2B) having one or more processorsand memory receives (step 392) a first input indicating a takeofflocation of the UAV and a second input indicating a landing location ofthe UAV. At least one of the takeoff location and the landing locationis associated with a UAV station. In some embodiments, the portableelectronic device further receives (step 394) a third input associatedwith altitude information. In response to receiving the first, second,and optionally the third inputs, the portable electronic device obtains(step 396) a determined UAV flight route from the takeoff location tothe landing location; and provides (step 398), based on the obtained UAVflight route, flight route information to the UAV. The flight routeinformation indicates a viable flight route. The portable electronicdevice can further provide (step 399) a takeoff command to the UAVaccording to the viable flight route.

FIG. 3Y is merely illustrative of a method for facilitating payloadtransportation using a UAV. The illustrative discussions above are notintended to be exhaustive or to limit the invention to the precise formdisclosed. Many modifications and variations are possible in view of theabove teachings.

Using the application and methods as described in FIGS. 1, 2B, and3A-3Y, a transportation administrator or an operator can convenientlyand flexibly perform many tasks associated with payload transportationusing UAVs. For example, the user can manage the UAV flight routes andflight status, and interrupt the flight in real time. Additionally, theuser can simulate the flight route before the UAV actually flies,therefore avoiding potential crashes or failures of the transportationtasks. Moreover, the user is provided with options to flexibly selectflight route through connection locations to enable long distancepayload transportation using UAVs. Such transportation may not bepossible with the current UAV technologies because of the limitation ofUAV battery life.

UAV Cloud Service

FIG. 4A is a block diagram illustrating exemplary UAV service 120 forenabling payload transportation using UAVs, consistent with someembodiments of the present disclosure. In some embodiments, UAV service120 can be provided by a computer system (e.g., computer system 261). Insome embodiments, UAV service 120 can be provided by a cloud service. Acloud service enables, for example, ubiquitous, convenient, on-demandaccess to a shared pool of configurable computing resources. Such cloudservice can be, for example, IaaS (Infrastructure-as-a-Service), PaaS(Platform-as-a-Service), and/or SaaS (Software-as-a-Service) typeservices.

Referring to FIG. 4A, in some embodiments, UAV service 120 cancommunicate with a portable electronic device (e.g., portable electronicdevice 102 or the device shown in block 404 of FIG. 4A). In someembodiments, the portable electronic device can obtain an identificationof a payload to be transported. The identification of the payload can bea barcode, a QR (quick response) code, an electronic identification tag,a near field identification tag, or any type of identification. Further,the identification of the payload can be in the form of the nativeformat of a barcode, a QR code, an electronic identification tag, or anear field ID tag; or in the form of a digital representation thereof.For example, as illustrated in block 404 of FIG. 4A, using a scanner(e.g., scanner 238 shown in FIG. 2B), the portable electronic device canscan a barcode that identifies a blood sample. The portable electronicdevice can transmit the identification (e.g., a digital representationof the scanned barcode) to UAV service 120.

UAV service 120 receives the identification of the payload to betransported from the portable electronic device. In some embodiments,the identification can be associated with a destination location of thepayload. For example, a scanned barcode that identifies a blood samplecan be associated with the delivery destination address of the bloodsample. As a result, UAV service 120 can acquire the destinationlocation of the payload based on the received identification.

In some embodiments, UAV service 120 further receives a firstidentification of a payload container from the portable electronicdevice. For example, as illustrated in block 406, the portableelectronic device can acquire a first identification identifying thepayload container. The first identification can be a barcode, a QR code,an electronic identification tag, a near field identification tag, orany type of identification. Further, the first identification of thepayload container may be the in the form of the native format of abarcode, a QR code, electronic identification tag, or near field ID tag;or in the form of a digital representation thereof. The portableelectronic device can transmit the first identification of the payloadcontainer (e.g., a digital representation of the scanned barcode of thepayload container) to UAV service 120. In some embodiments, UAV service120 can associate the identification of the payload with the firstidentification of the payload container. For example, UAV service 120can recognize that a scanned barcode identifying a blood sample and thescanned barcode of a payload container are provided by the same portableelectronic device in a same transaction or scheduling process. UAVservice 120 can thus associate the scanned barcode of the blood samplewith the scanned barcode of the payload container. As a result, UAVservice 120 can determine the destination location of the payloadcontainer using the destination location associated with theidentification of the payload.

In some embodiments, the first identification of the payload container(e.g., a barcode) can be further associated with a second identificationof the payload container (e.g., an RFID tag). The second identificationcan be obtainable by a UAV. For example, the second identification canbe a Radio Frequency Identification (RFID) tag, a barcode, a QR code, anelectronic identification tag, a near-filed ID tag, or any other type ofidentification. Further, the second identification of the payloadcontainer can be the in the form of the native format of an RFID tag, abarcode, QR code, electronic identification tag, or near field ID tag;or in the form of a digital representation thereof. The secondidentification can be readable by a reader (e.g., an RFID reader) of theUAV. In some embodiments, the first and second identificationscorrespond with each other such that they identify the same payloadcontainer.

As illustrated in block 408 of FIG. 4A, the payload container thatcontains the payload (e.g., the blood sample shown in block 404) to betransported can be received in a UAV. In some embodiments, the reader(e.g., an RFID reader) of the UAV can read the second identification ofthe payload container (e.g., the RFID tag) and transmit the secondidentification (e.g., a digital representation of the RFID tag) to UAVservice 120. UAV service 120 receives the second identificationidentifying the payload container from the UAV. As discussed above, thesecond identification can correspond to the first identification of thepayload container to identify the same payload container. And UAVservice 120 can determine the destination location of the payloadcontainer using the first identification of the payload container. As aresult, UAV service 120 can determine the destination location of theparticular UAV that carries the payload container based on the secondidentification transmitted by the UAV. For example, if UAV service 120receives an RFID identifying the payload container housing the bloodsample from a particular UAV, UAV service 120 can determine thedestination location of the particular UAV based on the RFID of theblood sample (and its associated destination location) and the firstidentification of the payload container provided by the portableelectronic device.

Referring to FIG. 4A, after determining the destination location of theUAV, UAV service 120 can determine a UAV flight route. The determinationof the UAV flight route is described above and thus not repeatedlydescribed here. As illustrated in block 410 of FIG. 4A, after suchdetermination, UAV service 120 can provide the determined UAV flightroute to the particular UAV that transmits the second identification ofthe payload container. After receiving the flight route, the particularUAV can transport (block 412) the payload container to its destinationlocation. In some embodiments, after the UAV arrives its destinationlocation, UAV service 120 can receive a transportation confirmation(block 414). For example, a portable electronic device at thedestination location can scan the payload box and transmit the firstidentification of the payload box and/or a confirmation message to UAVservice 120, indicating that the payload is received at the destinationlocation.

FIG. 4B illustrates a flow chart of an exemplary process 420 forfacilitating payload transportation using a UAV, consistent with someembodiments of the present disclosure. Some features of the process 420are illustrated in FIGS. 1, 2A-2C, 3A-3Y, and 4A and accompanyingdescriptions. In some embodiments, the process 420 is performed by a UAVservice provided by a computer system (e.g., computer system 261 in FIG.2C) or a cloud service. In the process 420, the UAV service receives(step 422) a request for transporting a payload. The request may bereceived from, for example, a portable electronic device of a user andprovided to a portable electronic device of an operator or administrator(step 424).

Referring to FIG. 4B, in the process 420, the UAV service cancommunicate various information (step 426) with various devices. Forexample, the UAV service can receive (step 432) an identification of apayload to be transported from a portable electronic device of a payloadshipper. The identification of the payload can be associated with adestination location of the payload. For example, the identification ofthe payload may be a digital representation of a barcode of the payload,which identifies the destination location of the payload. The UAVservice can also receive (step 434) a first identification of a payloadcontainer for housing the payload from the portable electronic device ofthe shipper. The first identification can be accessible on an externalsurface of the container and can be scannable. For example, the firstidentification may be a digital representation of a barcode of thepayload container, which identifies the payload container.

In some embodiments, the UAV service can further receive (step 436) asecond identification from the UAV. The second identification comprisesa near-field identification tag (e.g., an RFID tag) that corresponds tothe first identification to identify the same container. For example,the UAV can read the RFID tag of the payload container and transmit theRFID tag or a representation of it to the UAV service. In step 426, theUAV service can also determine a UAV flight route based on theidentification of the payload; and provide the UAV flight route to theUAV based on the first and second identifications.

Referring to FIG. 4B, after the UAV service provides the UAV flightroute to the UAV, the UAV flies (step 438) from the takeoff location tothe landing location, and transports the payload with it. The UAV lands(step 440) at the landing location (e.g., a destination UAV station) andunloads the payload container that houses the payload. In someembodiments, the UAV service can also provide (steps 442 and 444)information associated with the UAV flight to a portable electronicdevice of the payload receiver. Such information may include, forexample, the ETA and the notification of UAV landing. In someembodiments, the portable electronic device of the payload receiver canobtain (step 446) the first identification (e.g., scan the barcode) ofthe payload container and provide the first identification and/or aconfirmation message to the UAV service.

FIG. 4B is merely illustrative of a method for facilitating payloadtransportation using a UAV. The illustrative discussions above are notintended to be exhaustive or to limit the invention to the precise formdisclosed. Many modifications and variations are possible in view of theabove teachings.

By using a UAV service the operator or administrator can effectivelyschedule, manage, and monitor payload transportation in a large scale.Further, because the UAV service can utilize a broad range of computingresources (e.g., a cloud service) and network resources, it is moreefficient to determine flight routes based on numerous conditions. Suchdetermination may not be easily performed by a portable electronicdevice. In addition, the UAV service allows multiple payloadtransportation to be coordinated to avoid wasting of UAV resources. TheUAV service also enables transporters (e.g., a delivery company or adelivery truck driver) to transport more payloads in a cost-efficientmanner.

Mobile Application for Transporter

FIG. 5A illustrate an exemplary user interface 500 for facilitating apayload transportation using a UAV, consistent with some embodiments ofthe present disclosure. User interface 500 can be provided by, forexample, an application (e.g., applications 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. In some embodiments, user interface 500 can provide an imageindicating whether the application is for an administrator or for atransporter. As discussed above with FIG. 3A, the administrator can be auser who oversees or manages the UAV service for transporting payloadsusing multiple UAVs. For example, the administrator may be a UAV serviceadministrator or an operator. The transporter can be a user whorequests, schedules, or delivers payloads. For example, the transportermay be an exchange station driver such as a transporting vehicle driver.As illustrated in FIG. 5A, user interface 500 indicates that theapplication is for a transporter.

In some embodiments, the portable electronic device can also provideauthentication regions (not shown) on user interface 500. For example,the authentication regions can include a user name region and a passwordregion for authenticating the user. Thus, a user may need to provide hisor her user name and password before the portable electronic deviceallows the user to use the application or displays the next userinterface (e.g., user interface 502 shown in FIG. 5B). It is appreciatedthat the authentication can be any process that confirms the user'sidentity. For example, the portable electronic device can authenticatethe user by validating his or her identity documents, verifying theuser's biometric characteristics, verifying a digital certificate, orverifying an encryption key.

FIGS. 5B, 5C, and 5D illustrate exemplary user interfaces 502, 506, and510 of an application for facilitating a payload transportation using aUAV, consistent with some embodiments of the present disclosure. Userinterfaces 502, 506, and 510 can be provided by an application (e.g.,application 234) of a portable electronic device (e.g., portableelectronic device 102) shown in FIG. 2B. Referring to FIG. 5B, in someembodiments, the portable electronic device provides one or more recenttransports and information associated with these transports. The recenttransports may be transports that are recent in time, but may not becurrently active. For example, user interface 502 may display a list ofrecent transports including a first recent transport named MCH-68ECF anda second recent transport named MCH-12990. The portable electronicdevice can also provide details of these transports such as theoriginating location and the destination location, and the transportstatus. For example, user interface 502 may display that for the firsttransport, the originating location is MCH Central Lab, the destinationlocation is MCH North, and the status of the first transport isdelivered; and for the second transport, the originating location is MCHNorth, the destination location is a location with coordinates 37.1256and 104.2345, and the status of the second transport is cancelled.

Referring to FIG. 5C, in some embodiments, the portable electronicdevice can provide one or more active transports and informationassociated with these transports. For example, user interface 506 maydisplay a list of active transports including a first active transportnamed MCH-45A03 and a second active transport named Pickup forMCH-F504C. As discussed above, a UAV can transport a payload to adestination location; and can also fly to an originating location topick the payload before it transports that payload to its destinationlocation. In some embodiments, these two types of transports can beidentified by their names. For example, as shown in user interface 506,the first active transport named MCH-45A03 is a transport flight fromthe originating location to its destination location; and the secondactive transport named Pickup for MCH-F504C is a transport flight forpicking up a payload at the originating location. In some embodiments,user interface 506 can also display information associated with theactive transports, such as the originating/destination locations, thestatus of the flight (e.g., “En Route”), and the ETAs of the transports(e.g., 14:07).

Referring to FIG. 5D, in some embodiments, the portable electronicdevice can provide both one or more active transports and one or morerecent transports and information associated with these transports. Forexample, user interface 510 displays both the two active transportssimilar to those illustrated in FIG. 5C and the two recent transportssimilar to those illustrated in FIG. 5B. By providing these transports,the portable electronic device can enable the user to effectivelyschedule a transport. For example, the user may obtain information fromthe active and recent transports and reuse the information to quicklyschedule a new transport. The user may also observe that a particulartransport is already en route and therefore avoid duplicate schedulingof the same transport.

In some embodiments, the portable electronic device can provide anoption on a user interface (e.g., user interfaces 502, 506, and 510) forscheduling a transport. For example, user interface 510 displays“Schedule a Transport” indicating the user can select to schedule atransport. A user can select the option by, for example, touch or pressin the area indicating such option on the user interfaces. After theportable electronic device receives such user selection or input, it candisplay the next user interface (e.g., user interface 516 of FIG. 5E).

FIGS. 5E-5J illustrate exemplary user interfaces 516, 518, 524, 528,532, and 536, respectively, of an application for facilitating a payloadtransportation using a UAV, consistent with some embodiments of thepresent disclosure. User interfaces 516, 518, 524, 528, 532, and 536 canbe provided by an application (e.g., application 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. Referring to FIG. 5E, in some embodiments, after the portableelectronic device receives a user input for scheduling a transport, itdisplays user interface 516 for allow the user to confirm scheduling atransport. In some embodiments, user interface 516 may be skipped. Forexample, the portable electronic device may display instead userinterface 518 requesting the user to provide the contents of thepayload.

Referring to FIG. 5F, in some embodiments, the portable electronicdevice can display user interface 518 instructing the user to providethe contents of the payload. For example, user interface 518 may displaya message stating “What are you sending?” The contents of the payloadmay include, for example, the identifications of the payload, thepriority of the payload, and the description of the payload. Asillustrated in FIG. 5F, user interface 518 displays a list of contentfields for user inputs. Some of these content fields may be required,while the other fields may be optional. In some embodiments, the contentfields are also configurable or customizable. As an example, if thetransport is for delivering a blood sample, the content fields displayedon user interface 518 may include a “LBCID” field, a “Chart ID” field, a“Priority” field, and a “Description” field. User interface 518 may alsoindicate that for a blood sample, all these content fields are required.Based on user interface 518, a user may select one of the content filedto provide the input.

Referring to FIG. 5G, in some embodiments, the portable electronicdevice can display user interface 524 after receiving a user's selectionfor providing input of the description field. For example, userinterface 524 can display a message stating “What are you sending?”instructing the user to provide a description of the payload content.User interface 524 can also provide a text input region to receive theuser input of the payload content.

Referring to FIG. 5H, after the portable electronic device receivesdescription of the payload content, it may display the received content(e.g., “Banana”) on user interface 528 and provide an option to addanother description. For example, user interface 528 can include an “AddAnother” option for receiving additional user inputs associated with thepayload contents.

As discussed above, in some embodiments, the portable electronic devicemay indicate that certain content fields are required. It can alsodetect whether it has received all the required fields. For example, fora blood sample, the “LBCID” field, the “Chart ID” field, the “Priority”field, and the “Description” field may all be required fields. Referringto FIG. 5I, for example, after the portable electronic device detectsthat it has received all the required fields, it can display thereceived user inputs on user interface 532. Similar to user interface528, user interface 532 also can provide an option to add additionaluser inputs associated with the payload contents.

Referring to FIG. 5J, in some embodiments, the portable electronicdevice can display user interface 536 instructing the user to providethe destination location of the payload transport. For example, userinterface 536 can display a message stating “Where is it going?”. Insome embodiments, user interface 536 may provide a plurality ofdestination location selections such as available UAV stations. Asillustrated in FIG. 5J, user interface 536 may provide a list of UAVstations including, for example, a “MCH Central Lab” station, a “MCHNorth” station, a “MCH East” station, and a “MCH Hamilton Pavilion”station. In some embodiments, user interface 536 can provide a pluralityof destination location selections such as addresses (street names,city, state, etc.), business names (e.g., JW Marriott), or areas fortransport (e.g., the central park area). Using user interface 536, auser may select one of the destination locations.

FIGS. 5K-5L illustrate exemplary user interfaces 542 and 544,respectively, of an application for facilitating a payloadtransportation using a UAV, consistent with some embodiments of thepresent disclosure. User interfaces 542 and 544 can be provided by anapplication (e.g., application 234) of a portable electronic device(e.g., portable electronic device 102) shown in FIG. 2B. Referring toFIG. 5K, in some embodiments, after the portable electronic devicereceives the user input of the payload contents (e.g., the description,the destination location, etc.), it also receives an identification ofthe payload to be transported. The identification may be in the form ofa barcode, a QR code, a near-field identification tag, etc., or adigital representation thereof.

For example, to receive the identification of the payload, the portableelectronic device displays user interface 542, which provides a messagestating “Please scan chart ID” and provides a window for scanning abarcode. For scanning the barcode, the portable electronic device canuse a scanner such as scanner 238 shown in FIG. 2B. The portableelectronic device then determines whether the scanning is successful.For example, it can determine whether the scanned barcode is readable oruseable. If the scanning is successful, the portable electronic devicecan display a confirmation (e.g., a check mark) indicating theidentification of the payload is received. As discussed above, afterobtaining the identification of the payload, the portable electronicdevice can transmit the identification to a UAV service (e.g., UAVservice 120). The identification of the payload can also be associatedwith the contents and destination location that the portable electronicdevice received.

Referring to FIG. 5L, in some embodiments, the portable electronicdevice can further obtain a first identification of the payloadcontainer. The first identification can be a barcode, a QR code, anelectronic identification tag, a near field identification tag, or anytype of identification, or a digital representation thereof. Forexample, to receive the first identification of the payload container,the portable electronic device displays user interface 544, whichprovides a message stating “Please scan Transport Container” andprovides window for scanning a QR code. For scanning the QR code, theportable electronic device can use a scanner such as scanner 238 shownin FIG. 2B. The portable electronic device can then determine whetherthe scanning is successful. For example, it can determine whether thescanned QR code is readable or useable. If the scanning is successful,the portable electronic device can display a confirmation (e.g., a checkmark) indicating the identification of the payload is received. Asdiscussed above, the portable electronic device can transmit the firstidentification of the payload container (e.g., a digital representationof the scanned barcode of the payload container) to a UAV service (e.g.,UAV service 120). In some embodiments, UAV service 120 may associate theidentification of the payload with the first identification of thepayload container. As a result, the UAV service can determine thedestination location of the payload container using the destinationlocation associated with the identification of the payload.

FIGS. 5M-5Q illustrate exemplary user interfaces 546, 552, 556, 560, and564 respectively, of an application for facilitating a payloadtransportation using a UAV, consistent with some embodiments of thepresent disclosure. User interfaces 546, 552, 556, 560, and 564 can beprovided by an application (e.g., application 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. As discussed above, the portable electronic device can provide boththe identification of the payload and the first identification of thepayload container to the UAV service. Based on the receivedidentifications, the UAV service can determine that the particularpayload container is associated with the particular payload.Correspondingly, referring to FIG. 5M, the portable electronic devicecan display a message (e.g., “Load content into transport container”) onuser interface 546 to instruct the user to place the particular payloadto the particular payload container.

Referring to FIG. 5M, the portable electronic device can also display amessage (e.g., “Place transport container into bay.”) to instruct theuser to place the particular payload container into a UAV. One or moreUAVs may be available for transporting the payload; and the portableelectronic device can provide the identities of the available UAVs tothe user. As an example, if two UAVs are available, user interface 546displays a message stating “M1-Brian or M1-Denis are ready to transportyour 2 items,” as illustrated in FIG. 5M. As another example, if onlyone UAV is available, user interface 552 displays a message stating“M1-Brian is ready to transport your 2 items,” as illustrated in FIG.5N. Based on the displayed messages, the user can select a UAV and placethe payload to be transported into the selected UAV (e.g., M1-Brian).

In some embodiments, referring to FIGS. 5M and 5N, user interfaces 546and 552 can also display other information such as the destinationlocation (e.g., Miami Children's Hospital), the flight routeidentification (e.g., MCH-45AD3), and a message stating “Ready ForTransport.”

Under certain circumstances, a UAV service (e.g., UAV service 120) maydetermine that no UAV is available at the user's location fortransporting the payload. Based on such determination, the UAV servicecan instruct a nearby UAV to fly to the user's location to pick up thepayload. The UAV service can also notify the user's portable electronicdevice that a UAV is en route to pick up the payload to be transported.Correspondingly, referring to FIG. 5O, the user's portable electronicdevice can display user interface 556 to provide certain informationassociated with the incoming UAV for picking up the payload. Forexample, user interface 556 may display that for a scheduled UAV flight(e.g., Miami Children's Hospital, MCH-45AD3), a UAV (e.g. the UAV namedBrian) is incoming for picking up the payload. User interface 556 canalso provide the status of the incoming UAV (e.g., flight time 00:14:06,ETA 00:04:17).

As discussed above, after the user placed the payload container in aselected UAV, a reader (e.g., an RFID reader) of the selected UAV canread the second identification of the payload container (e.g., the RFIDtag) and transmit the second identification to the UAV service. The UAVservice receives the second identification identifying the particularpayload container from the UAV. Because the second identificationcorresponds to the first identification of the payload container toidentify the same payload container, the UAV service can determine thedestination location of the payload container using the firstidentification of the payload container. As a result, the UAV servicecan determine the destination location of the particular UAV based onthe second identification transmitted by that UAV. Further, using thedetermined destination location, the UAV service can determine the UAVflight route and provide the flight route to the UAV. In someembodiments, the UAV service can also provide the UAV flight route tothe user's portable electronic device. In some embodiments, the UAVservice can provide an indication that the flight route has beentransmitted to the particular UAV.

Referring to FIG. 5P, after receiving the flight route or the indicationthat the flight route has been transmitted to the UAV, the user'sportable electronic device can display one or more messages (e.g.,“Ready For Takeoff” and “M1-Brian is ready to transport your 2 items”)on user interfaces 560 to confirm that the particular UAV (e.g., UAVnamed M1-Brian) is ready to takeoff. Further, user interface 560 canalso provide a control switch to allow the user to initiate the flightof the UAV. For example, as illustrated in FIG. 5P, user interface 560provides a control switch for turning on the propellers of the UAV. Inresponse to receiving the user input to turn on the propellers, theportable electronic device can communicate with directly or indirectly(e.g., through a UAV service) with the UAV to turn on the propellers ofthe UAV. In some embodiments, the portable electronic device can alsodisplay other information on user interface 560. Such information mayinclude the flight destination location (e.g., Miami Children'sHospital), the flight route identification (e.g., MCH-45AD3), contentsinformation of the payload (e.g., information of LBCID, Chart ID,Priority, etc.), the name of the user who sent the payload (e.g.,Marisol Lopez), the time that the payload was sent (e.g., 2016-02-21,3:30 PM), and the flight route details (e.g., from the MCH Central Labstation to the MCH North station).

Based on the information displayed on user interface 560, the user ofthe portable electronic device can review and/or confirm that theinformation is correct and accurate. Referring to FIG. 5Q, based on suchreview, the user can use one or more control switches to initiate theflight. For example, after the user's portable electronic devicereceives the user's input to turn on the propeller, the portableelectronic device can display user interface 564. User interface 564 canindicate that the propellers of the UAV are turned on and provide acontrol button for initiating the flight (e.g., a “takeoff” button). Forexample, the user may touch or push the control button on user interface564 to initiate the flight. In some embodiments, the portable electronicdevice can also display information associated with the flight on userinterface 564. Such information may include the flight destinationlocation (e.g., Miami Children's Hospital), the flight routeidentification (e.g., MCH-45AD3), contents information of the payload(e.g., information of LBCID, Chart ID, Priority, etc.), the name of theuser who sent the payload (e.g., Marisol Lopez), the time that thepayload was sent (e.g., 2016-02-21, 3:30 PM), and the flight routedetails (e.g., from the MCH Central Lab station to the MCH Northstation).

FIGS. 5R-5U illustrate exemplary user interfaces 568, 572, 578, and 582respectively, of an application for facilitating a payloadtransportation using a UAV, consistent with some embodiments of thepresent disclosure. User interfaces 568, 572, 578, and 582 can beprovided by an application (e.g., application 234) of a portableelectronic device (e.g., portable electronic device 102) shown in FIG.2B. Referring to FIGS. 5R-5U, a user's portable electronic device canmonitor the flight status of the UAV and/or the transporting status ofthe payload. As examples, in FIG. 5R, the portable electronic devicedisplays a message on user interface 568 stating that the UAV iscurrently “En Route”. In FIG. 5S, the portable electronic devicedisplays a message on user interface 572 stating, for example, that theUAV is currently “Landing.” In FIG. 5T, the portable electronic devicedisplays a message on user interface 578 stating, for example, that theUAV has currently “Arrived.” And in FIG. 5U, the portable electronicdevice displays a message on user interface 582 stating, for example,that the payload has been “Received.”

In some embodiments, the portable electronic device can also displayinformation associated with the flight on user interfaces 568, 572, 578,and 582. Such information may include, for example, the flightdestination location (e.g., Miami Children's Hospital), the flight routeidentification (e.g., MCH-45AD3), contents information of the payload(e.g., information of LBCID, Chart ID, Priority, etc.), the name of theuser who sent the payload (e.g., Marisol Lopez), the time that thepayload was sent (e.g., 2016-02-21, 3:30 PM), and the flight routedetails (e.g., from the MCH Central Lab station to the MCH Northstation). In some embodiments, after the payload is transported andreceived, user interface 582 can also provide information associatedwith the receiving of the payload. For example, as illustrated in FIG.5U, user interface 582 may provide the name of the person signed orscanned the received payload (e.g., Dan Henry), and the day and time thepayload is received (e.g., 2016-02-21, 3:48 PM).

FIG. 5V illustrates a flow chart of an exemplary process 590 forfacilitating a payload transportation using a UAV, consistent with someembodiments of the present disclosure. Some features of the process 590are illustrated in FIGS. 1, 2A-2C, and 5A-5U and accompanyingdescriptions. In some embodiments, the process 590 is performed by aportable electronic device (e.g., portable electronic device 102 inFIGS. 1 and 2B).

In the process 590, a portable electronic device (e.g., portableelectronic device 102 in FIGS. 1 and 2B) having one or more processorsand memory obtains (step 592) an identification of the payload to betransported. The identification of the payload is associated with adestination location of the payload. The portable electronic deviceprovides (step 594) the identification of the payload to a UAV service.The portable electronic device further obtains (step 596) a firstidentification of a container for housing the payload. The firstidentification is accessible on an external surface of the container andis scannable. The portable electronic device provides (step 598) thefirst identification to the UAV service. As discussed above, the UAVservice determines the flight route and transmits the flight routeinformation to the UAV. In some embodiments, the UAV service alsotransmits the flight route information to the portable electronicdevice. In some embodiments, the UAV service transmits an indication tothe portable electronic device indicating that the flight route has beentransmitted to the UAV. After receiving the flight route or theindication, the portable electronic device provides (step 599) one ormore instructions to a selected UAV for transporting the payload basedon a UAV flight route. The UAV flight route is generated based on theidentification of the payload; and the UAV is selected based on thefirst identification and a second identification. The secondidentification is associated with the first identification foridentifying the container.

FIG. 5V is merely illustrative of a method for facilitating payloadtransportation using a UAV. The illustrative discussions above are notintended to be exhaustive or to limit the invention to the precise formdisclosed. Many modifications and variations are possible in view of theabove teachings.

Using the application and methods described above with FIGS. 5A-5V, atransporter (e.g., a delivery truck driver) can readily schedule aplurality of transportations using UAVs. The transporter can thusdelivery more payloads to their destinations faster and morecost-effective. The application can also prioritize the transportationof payloads for the transporter. Moreover, the transporter canconveniently monitor the status of transportation from his or herportable electronic device. The transporter can also receiveconfirmation of transportation remotely without having to interact withthe payload receiver.

Unmanned Aerial Vehicle and Smart Payload Container

FIG. 6A illustrates an exemplary UAV 130 and an exemplary UAV station140, consistent with some embodiments of the present disclosure.Referring to FIG. 6A, in some embodiments, UAV 130 can include a body602, one or more propellers 606, a main power supply 608, a payloadcontainer 610, a flight control system 620, and a flight terminationsystem 630. As described, in some embodiments, UAV station 140 caninclude a landing platform 144 and an exchange station 146. A landingplatform facilitates landing and launching of UAV 130. An exchangestation 146 receives a payload, a payload container, or a battery fromUAV 130; loads a payload, a payload container, or a battery to UAV 130,or exchanges a payload, a payload container, or a battery with UAV 130.In some embodiments, as shown in FIG. 6A, body 602 may optionallycomprise a carrying space 604. As described above, UAV 130 can launchfrom and/or land on landing platform 144 forreleasing/loading/exchanging payload container 610 and/or main powersupply 608 (e.g., a battery) with exchange station 146. After landing onlanding platform 144, UAV 130 can align with a payload receivingstructure of landing platform 144 for exchanging the payload container610 and/or main power supply 608. UAV 130 can also release the payloadto landing platform 144 without exchanging payload container 610 and/ormain power supply 608. In some embodiments, landing platform 144 caninclude a latch mechanism to latch or lock UAV 130 such that UAV 130 candock on landing platform 144 to prevent undesired movements or drifting.

Referring to FIG. 6A, in some embodiments, body 602 can include acarrying space 604 that may extend to the bottom of UAV 130. Carryingspace 604 may be at least partially enclosed by body 602. Carrying space604 of UAV 130 can accommodate a payload container 610 and optionallymain power supply 608. For example, carrying space 604 may have arectangular shape, or any other shape, corresponding to a similarlyshaped payload container 610. In some embodiments, carrying space 604may not be partially enclosed by body 602, and body 602 may not have thevertical portions as shown in FIG. 6A. Instead, carrying space 604 maycomprise an open space underneath body 602 such that a payload containercan have any dimensions. For example, the payload container can bereleasably mounted at the bottom of UAV 130 and extends beyond the edgesof body 602.

In some embodiments, payload container 610 may have dimensions (length,width, and thickness) corresponding to the payload receiving structureof landing platform 144, such that payload container 610 may passthrough the payload receiving structure of landing platform 144. Forexample, after UAV 130 lands on landing platform 144 and aligns with thepayload receiving structure of landing platform 144, it may releasepayload container 610 to allow payload container 610 to transfer througha center opening of landing platform 144 to the interior of exchangestation 146. As a result, exchange station 146 can receive the payloadcontainer 610 through the center opening of landing platform 144. Afterreceiving the payload container 610, exchange station 146 can furtherload another payload container to UAV 130 for the next transportation.

In some embodiments, the payload receiving structure of landing platform144 may be part of exchange station 146 (e.g., a designated area of therooftop of a consumer's vehicle), and may not have a center opening. Assuch, payload container 610 may be transferred to the exterior ofexchange station 146 (e.g., the designated area of the rooftop ofexchange station 146). The components of UAV 130 are further describedin detail below.

FIG. 6B illustrates an exploded view of UAV 130, consistent with someembodiments of the present disclosure. As shown in FIG. 6B, UAV 130includes a body 602 and a carrying space 604. In some embodiments, body602 can be formed using metal, plastic, alloy, or any other suitablematerials. For example, body 602 may include aluminum alloy materialsuch that UAV 130 has a reduced overall weight while still possesssufficient strength or hardness for protecting the electronic systemsinside body 602 and payload container 610.

As discussed above, carrying space 604 can accommodate payload container610. In some embodiments, carrying space 604 can also accommodate mainpower supply 608. For example, carrying space 604 can form an openingfrom the top surface of UAV 130 to the bottom surface of UAV 130 (e.g.,a single through hole or a hole with covered top surface). Inside thecarrying space 604, payload container 610 may be placed toward thebottom of UAV 130 and main power supply 608 may be placed on top ofpayload container 610. In some examples, one or both payload container610 and main power supply 608 (e.g., a battery) can be released from UAV130. For example, UAV 130 can release payload container 610 to exchangestation 146 to transport the payload housed in payload container 610. Insome embodiments, UAV 130 can detect and determine whether main powersupply 608 has sufficient battery power. If UAV 130 determines that themain power supply 608 has insufficient battery power for the next flightor other requires replacement, it may also release main power supply 608to, for example, exchange station 146. In some examples, payloadcontainer 610 may be released before main power supply 608 (e.g., abattery) is released. In some examples, payload container 610 and mainpower supply 608 may be release together as one unit. For example,payload container 610 and main power supply 608 may be disposedside-by-side horizontally, and be release together from the bottom ofUAV 130. In some embodiments, exchange station 146 can dispose areplacement battery into carrying space 604 of UAV 130 before it disposeanother payload container. It is appreciated that main power supply 608and payload container 610 can be placed in any spatial relationship. Forexample, both main power supply 608 and payload container 610 can beplaced vertically or horizontally occupying a substantial portion of thevertical or horizontal dimension of carrying space 604. As a result,main power supply 608 and payload container 610 can be replaced in anydesired order. It is appreciated that carrying space 604 can form anyshape, form one single space or multiple spaces, or be arranged in anymanner that is suitable to carry and release payload container 610and/or main power supply 608.

In some embodiments, body 602 can include holding and releasingmechanisms, such as protrusions, cavities, connectors, latches,switches, or hinges, for holding and releasing main power supply 608 andpayload container 610. For example, the inner surface of body 602 mayinclude movable or retractable protrusions. The movement of theprotrusions can be enabled by mechanical or electrical sensors andswitches. For example, if a sensor senses the insertion or placement ofone or both of main power supply 608 and payload container 610, one ormore of the protrusions may be asserted or pushed out from the innersurface of body 602 to hold and/or lock the main power supply 608 and/orpayload container 610 in place. If a sensor senses a signal forreleasing the payload container 610 and/or main power supply 608, one ormore of the protrusions may be retracted.

Main power supply 608 can be a Lithium ion battery, a Lithium ironphosphate (LeFePO4) battery, a Lithium polymer (LiPo) battery, a LithiumTitanate battery, Lithium Cobalt Oxide, or any other type of batteries.In some embodiments, main power supply 608 can include a batteryinterface (e.g., a battery connector) for exchanging batteries. Forexample, when main power supply 608 is placed or inserted in carryingspace 604, it can be electrically coupled to provide electrical power tothe electronic systems (e.g., flight control system 620 and flighttermination system 630) of UAV 130 through the battery interface. Thebattery interface can also allow main power supply 608 to be removed orreleased from UAV 130 such that it can be replaced. In some embodiments,UAV 130 can detect that main power supply 608 needs to be replaced andtherefore release main power supply 608.

Referring to FIG. 6B, in some embodiments, payload container 610 caninclude a housing and a cover for substantially enclosing a payload.Payload container 610 can prevent or reduce the likelihood ofshock/drop/impact-, water-, dust-, and/or chemical-damage of theenclosed payload. In some embodiments, payload container 610 can besubstantially waterproof or water resistant. The material of payloadcontainer 610 can include metal, alloy, stainless steels, nylons, hardplastics, iron, aluminum, lead, rubber, and/or any other desiredmaterials.

In some embodiments, the housing and the cover of payload container 610can have similar length and width dimensions such that they can besnuggly coupled with each other. In some embodiments, the housing andthe cover can be hingedly, rotatably, movably, permanently, detachably,and/or latchably coupled or engaged with each other. Further, one orboth of the housing and the cover can include a seal strip configured toprovide additional water-sealing or water-resistance capability. Forexample, the housing or the cover may include a groove. The seal stripcan be disposed inside the groove. The seal strip and its surroundingstructures (e.g., the groove, a protrusion, coupling elements, etc.) canprovide protection of the enclosed payload from damaged by water, shock,dust, oil, mud, snow, vibration, spill, drop, impact, heat, frost, acid,chemical, corrosion, rain, sand, and/or other forms of intrusion. Insome embodiments, the material of the seal strip can include silicone,rubber, thermoforming plastics, polyvinylchoride materials,polycarbonate, polyethylene terephthalate (PET), poly methylmethacrylate acrylic (PMMA), adhesive tape, and/or any material havingsimilar characteristics. The seal strip may be formed, for example, by amolding processing.

In some embodiments, one or both of the housing and the cover of payloadcontainer 610 can include internally disposed cushion elements. Forexample, the cushion elements may be filled with air, gas, cottons, softmaterials, or any other force or stress absorption materials. Thecushion elements can provide the payload enclosed in payload containerwith additional protection against physical impact, force, impact,stress, shock, collision, etc.

In some embodiments, payload container 610 can include one or moreidentifications for identifying the payload container. For example,payload container 610 can include a first identification accessible onan external surface of payload container 610. The first identificationcan be a barcode, a QR code, a scannable/readable tag, or a near-filedcommunication tag (e.g., a RFID tag), or a digital representationthereof. To obtain the identity of payload container 610, a portableelectronic device can scan or read the first identification (e.g., abarcode disposed on an external surface of payload container 610). Insome embodiments, the first identification can be different fordifferent payload containers. As a result, each payload container canhave a unique first identification. As a result, the payload containercan be identified, monitored, or tracked using this firstidentification. Uniquely identifying a payload container can be helpfulto track or monitor the transportation status of the payload enclosed inthe payload container. For example, after a particular payload is placedin payload container 610, a first identification (e.g., a barcode)attached to payload container 610 can be scanned/read by a user'sportable electronic device. The first identification can be associatedwith information of the payload such as the contents, the weight, thedestination location, the sender of the payload, the receiver of thepayload, etc. The first identification can be transmitted to a UAVservice. Based on the first identification of payload container 610, theUAV service can associate payload container 610 with the payloadenclosed therein.

Moreover, the first identification can also be associated withinformation generated by the portable electronic device that scans thebarcode. For example, after scanning/reading of the firstidentification, the portable electronic device can generate informationsuch as the location and the day/time of the scanning/reading, the userwho scanned/read the first identification, etc. The information can alsobe associated with the first identification of payload container 610 toenable tracking or monitoring of payload container 610.

In some embodiments, payload container 610 can include a secondidentification identifying payload container 610. The secondidentification can be a barcode, a QR code, or a scannable/readable tag,or a near-filed communication tag (e.g., an RFID tag), or a digitalrepresentation thereof. The second identification can correspond to thefirst identification to identify payload container 610. In someembodiments, the second identification can be different in form or typefrom the first identification, but can also uniquely identify payloadcontainer 610. For example, the second identification can be an RFID tagthat is readable by an RFID reader of UAV 130. UAV 130 can also transmitthe second identification to a UAV service. Using the secondidentification, the UAV service associates a particular UAV 130 withpayload container 610. The UAV service can thus provide a flight routefor transporting the payload enclosed in payload container 610 to theparticular UAV 130.

In some embodiments, payload container 610 may include only oneidentification for identifying payload container 610. For example,payload container 610 may include only an RFID tag, which can be read bya user's portable electronic device and by UAV 130. After the user'sportable electronic device obtains the RFID tag of payload container 610and obtains the identification of the enclosed payloads, it can transmitthe RFID tag to a UAV service. The UAV service can thus associate thepayload with the payload container 610. Moreover, after UAV 130 readsthe RFID tag of payload container 610, it can also transmit the RFID tagto the UAV service. The UAV service can thus associate payload container610 with UAV 130 and provide the flight route to UAV 130 fortransporting payload container 610. Thus, in some embodiments, if theuser's portable electronic device and the RAV can read or obtain thesame type of identification (e.g., an RFID tag), only one identificationmay be used for payload container 610.

Referring to FIG. 6B, UAV 130 can include one or more propellers 606. Asone example, UAV 130 can include four propellers 606 surrounding body602 (e.g., a quadrotor helicopter). Propellers 606 enable UAV 130 tooperate in the air and fly from one location to another. Propellers 606may be substantially similar to those described in U.S. patentapplication Ser. No. 13/890,165 filed on May 8, 2013, entitled“Transportation Using Network of Unmanned Aerial Vehicles” (now U.S.Pat. No. 9,384,668), the content of which is incorporated by referencein its entirety for all purposes.

UAV 130 may also include a flight control system 620. In someembodiments, flight control system 620 can include electronic controlsystems and sensors for flying and navigating the UAV. For example,flight control system 620 can provide control for aerial flight of theUAV by changing flight dynamics (e.g., yaw, pitch, and roll), the liftgenerated, the angle of attack, velocity, or any other flightcharacteristics. Flight control system 620 can also provide stabilitycontrol of the UAV. Flight control system 620 can also communicate with,for example, satellites, a UAV service, portable electronic devices, andother UAVs. Further, flight control system 620 can include navigationsystems to navigate between geo-locations. Sensors of the UAV caninclude, for example, infrared cameras, lidars, inertial measurementunits (IMU), accelerometers, gyroscopes, inertial navigation systems,gravity sensors, external speed sensors, pressure sensors, gravitysensors, external speed sensors, altitude sensors, barometric systems,magnetometer or other sensors. Flight control system 620 may besubstantially similar to the electronic control systems and sensorsdescribed in U.S. patent application Ser. No. 13/890,165 filed on May 8,2013, entitled “Transportation Using Network of Unmanned AerialVehicles” (now U.S. Pat. No. 9,384,668), the content of which isincorporated by reference in its entirety for all purposes. In someembodiments, flight control system 620 can also include a landing system(e.g., UAV landing system 800 shown in FIG. 8A). The landing system iscapable of perform precision landing on a landing platform or on anyother locations. The landing system is described in detail below withFIGS. 8A-8C.

In some embodiments, UAV 130 can include flight termination system 630.Flight termination system 630 can include a controller, a batterymanager, a power supply, an emergency landing system, and one or moresensors. Flight termination system 630 can detect whether one or moreconditions for triggering termination of a flight are satisfied. Forexample, flight termination system 630 can detect a mid-air collision, asudden change of weather conditions that prevents the UAV fromcompleting the current flight, a mechanical/electrical failure of theUAV, a main power supply failure such as a battery failure, whether theremaining battery power is insufficient for supporting the remainingflight, non-responsive of the autopilot system and/or the flight controlsystem (e.g., flight control system 620 shown in FIGS. 6A-6B). Flighttermination system 630 can also detect a decent rate greater than athreshold value (e.g., 5 m/s), and a pitch or bank angle greater than athreshold value (e.g., 60 degrees). Flight termination system 630 canalso communicate with the autopilot system and/or the flight controlsystem, which can detect a violation of flight envelop (e.g., Geofence),or a disparity between barometric and GPS-derived altitude above groundlevel. If one or more of these conditions are satisfied, flighttermination system 630 may engage the emergency landing system to searchfor and/or land the UAV immediately at a nearby UAV station or location.For example, flight termination system 630 may cut power to the motorsor rotors of the UAV, retain power to the avionics, and/or deploy aparachute for immediate landing of the UAV near its current location.Flight termination system 630 is described in more detail below withFIGS. 9A-9D.

FIG. 6C illustrates a flow chart of an exemplary process 650 fortransporting a payload using a UAV. Process 650 can be performed by aUAV (e.g., UAV 130) comprising a body and one or more propellersrotatably connected to the body. The UAV receives (step 652) a batteryfrom an exchange station. The battery is received through a landingplatform (e.g., landing platform 144) associated with the exchangestation. The UAV mounts (step 654) the battery to the body of the UAV.Upon receiving the battery, the UAV receives (step 656) a payloadcontainer from the exchange station. The payload container is receivedthrough the landing platform associated with the exchange station. TheUAV mounts (step 658) the payload container to the body of the UAV. TheUAV receives (step 660) instructions for transporting the payloadcontainer to a destination; and transports (step 662) the payloadcontainer to the destination according to the instructions.

FIG. 6C is merely illustrative of a method for transporting a payloadusing a UAV. The illustrative discussions above are not intended to beexhaustive or to limit the invention to the precise form disclosed. Manymodifications and variations are possible in view of the above teachings

UAV 130 as described above can provide flexibility for exchangingpayload containers and/or batteries. As a result, the UAV can be betterutilized to transport more payloads in an efficient manner. Moreover,UAV 130 can also autonomously navigate and transport payload withreduced or eliminated human intervention. UAV 130 can also intelligentlyhandle or process emergency situations such that the payload can beprotected under the emergency situations. Moreover, UAV 130 cancommunicate directly or indirectly with other UAVs, with the users'portable electronic devices, and/or with a UAV service. As a result, itenables the monitor, tracking, and intervention if the user desires.

Landing Platform

FIG. 7A illustrates a perspective view of an exemplary landing platform144, consistent with some embodiments of the present disclosure. Thematerial of landing platform 144 can include metal, alloy, stainlesssteels, nylons, hard plastics, iron, aluminum, lead, rubber, and/or anyother desired materials. In some embodiments, landing platform 144 canalso include various structures for assisting alignment of a landed UAV.Alignment of a landed UAV may be required because the UAV may land onany area of landing platform 144. As a result, the landed UAV may not bealigned with a payload receiving structure of landing platform 144. Forexample, the landed UAV may not be aligned with the center opening areawhere landing platform 144 can receive the payload container. Thus,alignment or repositioning of the landed UAV may be required. Referringto FIG. 7A, one or more mechanisms for assisting the alignment of alanded UAV with a payload receiving structure of landing platform 144may include surface materials or coatings for aligning the landed UAV,surface textures, guiding rails, actuators, air-actuated orliquid-actuated mechanisms, or any other type of alignment systems. Asan example, landing platform 144 can include a surface costing forreducing the friction between landing platform 144 and the landed UAV,such that the landed UAV can move and align with the payload receivingstructure under the force of gravity. The alignment of a landed UAV onthe surface of landing platform 144 is described in more detail belowwith FIGS. 7C-7D.

Referring to FIG. 7A, in some embodiments, landing platform 144 can be adisc-shaped platform for providing a surface for landing one or moreUAVs. In some embodiments, landing platform 144 can include one or moreopenings, housings, compartments, or structures for receiving payloadcontainers. For example, landing platform 144 can include a centeropening having dimensions corresponding to the dimensions of a payloadcontainer. As a result, landing platform 144 can receive the payloadcontainer in the center opening. In some embodiments, the center openingcan be formed such that its vertical height/thickness is different thanthe vertical height/thickness of edge of landing platform 144. Forexample, the height of the center opening may be slightly less than theheight of the edge of landing platform 144. As a result, a landed UAVcan move toward the center of landing platform 144 under the force ofgravity. It is appreciated that the center opening can also have anydesired shape, dimension, formation, material, coating for alignment ofa landed UAV and for receiving a payload container. It is furtherappreciated that one or more openings for receiving payload containersmay be disposed at any areas of landing platform 144 other than thecenter area.

FIG. 7B illustrates a perspective view of an exemplary landing platform144 and a landing UAV 130, consistent with some embodiments of thepresent disclosure. Referring to FIG. 7B, in some embodiments, landingplatform 144 can have a dimension that is sufficiently large for landingor parking two or more UAVs. For example, landing platform 144 can havea 120 centimeter diameter. As a result, the area of landing platform 144can park two landed UAVs.

In some embodiments, precision landing may be required. For example, forexchanging a payload container with an exchange station, UAV 130 may berequired to land on landing platform 144, which can be attached to orintegrated with the exchange station. Failure to land on landingplatform 144 may result in failure to transport the payload. For UAV 130to land on landing platform 144, UAV 130 can include a landing system.The landing system of UAV 130 can include one or more of a magneticheading based landing subsystem, an infrared light based landingsubsystem, a global positioning system (GPS)/Real Time Kinematic (RTK)based landing subsystem, and an optical based landing subsystem. Thelanding system of UAV 130 can operate to coordinate with correspondingsubsystems or components of a landing system of landing platform 144 toassist the landing of UAV 130 onto landing platform 144. The landingsystems of UAV 130 and landing platform 144 are described in more detailbelow with FIGS. 8A-8C.

In some embodiments, for operating the landing system, landing platform144 can be electrically powered by a battery, an AC or DC power supply,a solar panel power supply, or any other type of power supplies. Forexample, landing platform 144 can be electrically coupled to a powersupply of an exchange station (e.g., exchange station 146 of FIG. 2A) toreceive electrical power. As another example, in a location (e.g., arural area) that lacks electrical infrastructure, landing platform 144can be powered by a battery that is charged by a solar panel.

Moreover, UAV 130 may be interfered from landing on landing platform 144due to various reasons. For example, landing platform 144 may have anobject (e.g., a leaf, a bird, a cat, dirt, water, etc.) disposed on topof it. The object may likely prevent UAV 130 from landing on landingplatform 144. In some embodiments, landing platform 144 can include anautomated shield or cover (not shown) for protecting its top surface andfor enabling landing of UAV 130. For example, landing platform 144 mayinclude a circular-shaped shield capable of covering the entire or asubstantial portion of the top surface of landing platform 144. If noUAV is approaching or landing, the shield can remain closed or coverlanding platform 144. If a UAV is approach or is landing, the landingsystem of landing platform 144 can detect the landing and send a signalto a controller of the shield. The controller of the shield may activatea motor or send an alert to open the shield (e.g., slide the shieldaway, flip the shield up, alert a user, etc.) In some embodiments, theshield can be partitioned to multiple slices and each slice can beoperated separately. As a result, for example, if the landing systemdetects that one UAV is landing, it can send a signal to the controllerto open some slices of the shield depending on the predicted landingarea of the UAV. If the landing system detects that two UAVs arelanding, it can send a signal to the controller to open all slices ofthe shield.

FIG. 7C illustrates a perspective view of an exemplary landing platform144 and a landed UAV 130, consistent with some embodiments of thepresent disclosure. As discussed above, using the landing systems, UAV130 can land on landing platform 144. Preferably, UAV 130 can land onthe payload receiving structure of landing platform 144 (e.g., thecenter opening area) such that the payload container carried by UAV 130can be directly released. In reality, UAV 130 may not land on such areaor structure each time. For example, in average, UAV 130 may land about20 centimeters from the center opening area of landing platform 144. Asa result, alignment or repositioning of UAV 130 may be required totransport the payload container that UAV 130 carries.

As discussed above, landing platform 144 can include one or moremechanisms for assisting the alignment or repositioning of a landed UAV.Referring to FIG. 7C, mechanisms for assisting the alignment of a landedUAV can include, for example, surface materials or coatings for aligningthe landed UAV, surface textures, guiding rails, air-assisted orliquid-assisted alignment mechanisms, actuators, or any other type ofalignment systems. As an example, a material having a low coefficient offriction or surface costing for reducing the friction between landingplatform 144 and the landed UAV can be used to enhance the movement oflanded UAV 130. Such materials or coatings include, for example,graphite, PTFE (Teflon), glass, diamond-like-carbon (DLC) and diamond.In some embodiments, by using the low coefficient frictionmaterials/coatings, UAV 130 can move and align under the force ofgravity.

In some embodiments, landing platform 144 can include surface texturesor guiding rails to assist the alignment or repositioning of a landedUAV. Referring to FIG. 7C, landing platform 144 can include guidingrails arranged in a radial or spokewise structure. The guiding rails mayhave gaps or spaces between them. The dimensions of the guiding railsand the spaces can be configured to guide the landed UAV 130 to thepayload receiving structure for releasing the payload container and/orfor reducing the movement of landed UAV 130 in other directions. Forexample, in FIG. 7C, the guiding rails can have widths that correspondto the landing gears or landing portions of the body of UAV 130. As aresult, the guiding rails can enhance the moving of UAV 130 toward thepayload receiving structure for releasing the payload container (e.g.,the center opening area). Moreover, the spaces or gaps between theguiding rails can prevent or reduce the likelihood that UAV 130 moves inan undesired direction. For example, referring to FIG. 7C, the gapsbetween guiding rails may reduce the likelihood that landed UAV 130moves in a perpendicular-to-the-longitudinal direction of the guidingrail.

In some embodiments, landing platform 144 can include gas assisted orliquid assisted mechanisms for aligning or repositioning of landed UAV130. For example, landing platform 144 can include a pump, an airintake, a plurality of air pipes/ducts/tubes/grooves, and one or moresensors. The sensors of the landing systems can detect the landing ofUAV 130 by, for example, sensing the weight change or receiving one ormore signals indicating UAV 130 is landing or has landed. Such signalscan be provided by a controller of the landing system of landingplatform 144. After the sensors detect the landing of UAV 130, they canprovide one or more signals to initiate the pump to enable air or othergas to flow in a desired direction. For example, in FIG. 7C, to move thelanded UAV 130 toward the center opening of landing platform 144, it maybe desired to enable the air or other gas to flow from the edge to thecenter. In some embodiments, the air pipes/ducts/tubes/grooves oflanding platform 144 may enable the flowing of the air or gas in thedesired direction. In some embodiments, the gaps between the guidingrails can also assist the flowing of the air or gas in the desireddirection.

In some embodiments, landing platform 144 can also include a liquidassisted mechanism for aligning or repositioning of landed UAV 130. Theliquid assisted alignment mechanism of landing platform 144 can includea pump, a liquid intake or a liquid circulation system, a plurality ofpipes/ducts/tubes/grooves, and one or more sensors. Similar to the airassisted mechanism, after the sensors detect and indicate that UAV 130is landing or has landed, the controller of the landing system oflanding platform 144 can provide a signal to initiate the liquidassisted alignment mechanism. The pump can start to flow the liquid inthe desired direction (e.g., toward the center opening of landingplatform 144). In some embodiments, the liquid flows only on the surfaceof land platform 144, and therefore does not affect the electricalsystems inside landing platform 144. Flowing the liquid can reduce thefriction between the landed UAV 130 and the surface of land platform144. In some embodiments, the liquid assisted alignment mechanismincludes a close-loop liquid circulation system such that the liquid arecollected and circulated in the system.

FIG. 7D illustrates a perspective view of an exemplary landing platform144 and a landed UAV 130 that is aligned with a payload receivingstructure, consistent with some embodiments of the present disclosure.Referring to FIGS. 7C and 7D, in some embodiments, a mechanism foraligning or repositioning a landed UAV may include one or moreactuators. As discussed above, UAV 130 may land in any area of landingplatform 144. Further, UAV 130 may also land in any directions. Forexample, the landing gears or landing portions of UAV 130 may beparallel to the guiding rails or perpendicular to the guiding rails.Moreover, UAV 130 may carry heavy payloads. As a result, under certaincircumstances, previously described mechanisms (e.g., using surfacecoatings, guide rails, air-assisted alignments) may not be sufficient tomove UAV 130 for alignment or reposition, and additional external forcesmay be required.

In some embodiments, landing platform 144 can include one or moreactuators that can apply external forces to landed UAV 130. An actuatoris a mechanism or system that is moved or controlled by a motor (notshown). The motor can be included in landing platform 144 or be aseparate component (e.g., a component included in an exchange stationsuch as a transporting vehicle). The motor can operate using varioustypes of power sources such as electric current, hydraulic fluidpressure, or pneumatic pressure. The motor can convert the energysupplied by such power sources to the motion of the actuator. The motionof the actuator may include, for example, a linear motion (e.g.,movement along a line), a circular motion, a back-and-forth motion, orany other desired motion. Moreover, the motion of the actuator may beactivated or triggered based on a signal provided by one or moresensors. The sensors of the landing systems may detect the landing ofUAV 130 by, for example, sensing the weight change of the landingplatform 144 or the receiving of one or more signals indicating UAV 130is landing or has landed. Such signal may be provided by a controller ofthe landing system of landing platform 144. After the sensor detects thelanding of UAV 130, it can provide a signal to activate or trigger themotion of actuators 740. For example, the sensors may send a signal tostart the motor, which causes actuators 740 to move in a preconfiguredmotion (e.g., a linear motion toward the center of landing platform144).

Referring to FIG. 7D, one or more actuators 740 can be disposed inlanding platform 144. For example, four actuators 740 can be disposedsymmetrically with a 90 degree angle between the adjacent two actuators.As a result, at least one of the four actuators can apply external forceon a landed UAV 130 no matter where UAV 130 lands on landing platform144. Such force may move landed UAV 130 toward a payload receivingstructure (e.g., the center opening area). In some embodiments, theactuators 740 can be configured to perform one or more types of motions.For example, the actuators 740 may perform a linear motion to move thelanded UAV 130 toward the center opening, and then perform a circularmotion to turn landed UAV 130 to better align with the center openingfor releasing the payload container. It is appreciated that any numberof actuators may be disposed in any desired manner in landing platform144; and that the actuators may be configured to perform any types ofmotions for aligning and/or repositioning of a landed UAV.

FIGS. 7E-7K illustrates prospective views of an exemplary landingplatform fence 750. Referring to FIG. 7E, landing platform fence 750 canbe a visible fence or an invisible fence. A visible fence can be, forexample, a physical fence or a laser fence emitting visible laser light.An invisible fence can be a fence emitting invisible light, acousticsignals, and/or radio signals. In some embodiments, landing platform 144and/or landing platform fence 750 can include a mechanism to detectobjects passing landing platform fence 750. Based on the detection,landing platform 144 can communicate with UAV 130 to take properactions.

In some embodiments, landing platform fence 750 is a laser fence, whichcan enable the detection of objects passing the line of sight between alaser source and a sensor (not shown). For example, landing platformfence 750 can include a laser source and/or remote sensors along theedge. The laser source can emit laser light in a substantially upwarddirection to form a light fence. One or more sensors (not shown) can beinstalled at corresponding internal or external positions of landingplatform 144 for detecting an intrusion of the laser fence by anexternal object. In some embodiments, one or more LIDAR sensors can beinstalled or integrated along the periphery of landing platform 144 inan arrangement designed to detect an obstacle within a preconfigureddistance (e.g., 10 meters) above landing platform 144. In someembodiments, the landing platform fence 750 can have continuous laserlight surrounding the perimeter of landing platform 144, as illustratedin FIG. 7I. In some embodiments, the laser light may not be continuousand may form a plurality of beams. The directions of the plurality ofbeams may be substantially parallel or may be overlapping. Thus, in someembodiments, landing platform fence 750 can be a laser light meshsurrounding the perimeter of landing platform 144.

Landing platform fence 750 can include laser light sources such as gaslasers, chemical lasers, excimer lasers, solid-state lasers, fiberlasers, photonic crystal lasers, semiconductor lasers, dye lasers,free-electron lasers, and/or any other type of lasers. In someembodiments, the power of the laser light source can be configured suchthat it does not hurt or damage the intruding object such as a humanuser.

Referring to FIG. 7F, one or more sensors can detect that an object 752(e.g., a user) is currently intruding landing platform fence 750. Such adetermination can be based on the detection that the light emitted bythe laser source is interrupted, disturbed, altered, etc. Upon suchdetermination, the sensors can provide one or more signals to landingplatform 144, indicating that landing platform fence 750 is currentlybeing intruded. Based on the received signals, landing platform 144 cancommunicate with UAV 130 to take proper actions. For example, based onthe communication from landing platform 144 indicating that the landingplatform fence 750 is currently being intruded, UAV 130 can disable thepropellers to prevent it from taking off. In some embodiments, landingplatform 144 and/or UAV 130 can also communicate directly or indirectly(e.g., through UAV service 120) with the user's portable electronicdevice to disable the control switch (e.g., control switch shown on userinterface 346 of FIG. 3N) on a user interface for turning on thepropellers. Thus, landing platform fence 750 can provide safety measuresto the user of UAV 130 (e.g., an operator or transporter who ismanipulating UAV 130) and/or to UAV 130.

Referring to FIG. 7G, in some embodiments, one or more sensors maycontinue to detect an on-going intrusion and continue to provide signalsfor preventing a landed UAV from taking off or preventing an approachingUAV from landing. For example, the one or more sensors can continuously,repeatedly, or periodically monitor the intrusion of landing platformfence 750 and send signals to landing platform 144, which cancommunicate with UAV 130 to take proper actions.

Referring to FIG. 7H, in some embodiments, if one or more sensors detectno intrusion of landing platform fence 750, they may provide one or moresignals to landing platform 144, indicating that landing platform fence750 is clear and free of intrusion. Such signals may be providedimmediately after landing platform fence 750 becomes clear or after itbecomes clear for a preconfigured period of time (e.g., 1 minute). Basedon the received signals, landing platform 144 can communicate with UAV130 to take proper actions. As an example, based on the communicationfrom landing platform 144 indicating that the landing platform fence 750is clear, UAV 130 can enable the propellers for preparing to taking off.In some embodiments, landing platform 144 and/or UAV 130 can alsocommunicate directly or indirectly (e.g., through UAV service 120) withthe user's portable electronic device to enable the control switch(e.g., control switch shown on user interface 346 of FIG. 3N) on a userinterface for turning on the propellers. Thus, after the propellers areturned on, a landed UAV can take off.

As another example, landing platform 144 can also communicate with anapproaching or landing UAV to indicate that landing platform 144 isclear for landing. Based on the communication from landing platform 144,a UAV landing system (e.g., UAV landing system 800 shown in FIG. 8A) cancoordinate with an LP landing system (e.g., LP landing system 820 shownin FIG. 8A) for landing the UAV. The landing systems are described inmore detail below with FIGS. 8A-8D.

Referring to FIG. 7I, in some embodiments, landing platform 144 caninclude a UAV alert system 756 for alerting that a UAV is approaching,landing or taking off. For example, UAV alert system 756 can include aplurality of light sources that are configured or controlled to flashduring the landing or taking off of a UAV. Such light sources may be thesame or different from light sources for establishing landing platformfence 750. For example, the light source for establishing landingplatform fence 750 can be a laser light source. The light source of UAValerting system 756 can be LED lights. In some embodiments, the lightsources of UAV alert system 756 can be disposed along the edge oflanding platform 144. It is appreciated that the light sources of UAValert system 756 can be disposed at any portion that is internal orexternal to landing platform 144.

Referring to FIG. 7J, in some embodiments, UAV alert system 756 caninclude one or more acoustic sources that are configured or controlledto transmit an acoustic wave (e.g., a siren) during the landing ortaking off of a UAV. In some embodiments, the acoustic sources aredisposed along the edge of landing platform 144 such that the acousticwave emitted can be received or detected from all directions. It isappreciated that the acoustic sources of UAV alerting system 756 can bedisposed at any portion that is internal or external to landing platform144.

Referring to FIG. 7K, in some embodiments, one or more sensors fordetecting the intrusion of landing platform fence 750 can also detectintrusions during the installation, placement, or positioning of landingplatform 144. For example, landing platform 144 may be mounted on orintegrated with an exchange station (e.g., a transportation truck). Theexchange station may move around a neighborhood and may stop or park atany location. Based on landing platform fence 750, landing platform 144can determine whether such location is acceptable for UAV landing ortaking off. For example, one or more sensors may detect that landingplatform fence 750 is intruded by an object 758, such as a tree or aportion of it. The sensors may provide one or more signals to landingplatform 144, indicating that landing platform fence 750 is intruded orotherwise not clear for landing. Based on such indication, landingplatform 144 can alert and/or communicate with the user's portableelectronic device to indicate that the current location is notacceptable or not approved for positioning landing platform 144. As aresult, the user can move the landing platform 144 to select a betterlocation. In some embodiments, if the current location is not approvedfor positioning landing platform 144, the control switch for taking offon the user interface of the user's portable electronic device can bedisabled. Similarly, if the current location is not approved, landingplatform 144 may not coordinate with an approaching or landing UAV forlanding.

If landing platform 144 receives signals indicating that landingplatform fence 750 is clear and free from intrusion, it may provide oneor more signals to indicate that the current location is approved. As aresult, the control switch for taking off on the user interface of theuser's portable electronic device can be enabled. Similarly, if thecurrent location is approved, landing platform 144 may coordinate withan approaching or landing UAV for landing.

Referring to FIG. 7L, in some embodiments, each landing platform can beidentified by a unique infrared flash code. For example, each landingplatform can broadcast its unique infrared flash code to enable theapproaching UAV to land on the correct landing platform. In someembodiments, landing platform 144 can include one or more infrared lightemitting diodes (LEDs) (not shown) for transmitting the infrared flashcode. The infrared LEDs can transmit invisible infrared lights. Theseinfrared lights may flash rapidly (e.g., 38,000 times a second). Theinfrared LEDs can be configured to change the amount of time betweeneach flash, thereby forming a plurality of bits. The plurality of bitscan form a code. Each landing platform 144 can be configured to instructits infrared LEDs to broadcast a unique code (e.g., code 760 asillustrated in FIG. 7L). As a result, landing platform 144 can beidentified by an infrared reader or receiver of UAV 130 based on theunique code.

FIG. 7M illustrates a flow chart of an exemplary process 780 forreceiving a payload container from a UAV at a landing platform,consistent with some embodiments of the present disclosure. Somefeatures of the process 780 are illustrated in FIGS. 1, 2A-2C, and 7A-7Dand accompanying descriptions. In some embodiments, the process 780 isperformed by a landing platform (e.g., landing platform 144 in FIGS. 1,2A, and 7A-7D).

In the process 780, one or more landing subsystems of a landing platform(e.g., landing platform 144) coordinate (step 782) with the UAV forlanding. One or more sensors of the landing platform can detect (step784) whether the UAV has landed on the landing platform. After thesensors detect that the UAV has landed, they may provide one or moresignals to activate or trigger one or more actuators. The actuators canalign (step 786) the landed UAV with a payload receiving structure(e.g., a center opening) of the landing platform for receiving a payloadcontainer carried by the UAV. Using the payload receiving structure, thelanding platform receives (step 788) the payload container carried bythe UAV. In some embodiments, the payload receiving structure hasdimensions corresponding to the dimensions of the payload containerassociated with the UAV.

FIG. 7M is merely illustrative of a method for receiving a payloadcontainer from a UAV at a landing platform. The illustrative discussionsabove are not intended to be exhaustive or to limit the invention to theprecise form disclosed. Many modifications and variations are possiblein view of the above teachings.

Landing platform 144 as described above can provide a standardizedplatform or improved platform for landing and parking of the UAV and fortransporting the payloads. Landing platform 144 can also coordinate witha UAV to provide precision landing of the UAV to enhance the likelihoodthat the UAV can interact with an exchange station to transport apayload. Landing platform 144 can be conveniently and flexibly disposedwith any type of exchange stations, such as a delivery truck/van, atrain, a cargo airplane, a carrier UAV, such that payloads can betransported automatically with reduced or eliminated human intervention.Moreover, landing platform 144 enables the UAV to land on any locationthat can house or accommodate a landing platform, thereby extending thetransportation area that UAV can reach.

Precision Landing System

FIG. 8A is a block diagram illustrating an exemplary UAV landing system800 and an exemplary landing platform (LP) landing system 820,consistent with some embodiments of the present disclosure. As discussedabove, for transporting a payload to an exchange station, a UAV may needto land on a landing platform. A landing platform may have a limiteddimension (e.g., 1.2 meter) and therefore landing the UAV on a landingplatform may require precision landing within a few centimeters. In someembodiments, the UAV (e.g., UAV 130) can navigate using a regular GPSsystem. A regular GPS system, however, may have an accuracy of about 1.5meters (5 feet). As a result, the regular GPS system may not besufficient for precision landing within a few meters or a meter.

Referring to FIG. 8A, to enable precision landing, UAV landing system800 can include a UAV communication interface 812 and one or more UAVlanding subsystems such as a UAV magnetic heading based landingsubsystem 802, a UAV infrared light based landing subsystem 804, a UAVglobal positioning system (GPS)/Real Time Kinematic (RTK) based landingsubsystem 806, a UAV optical based landing subsystem 808, and UAVlanding control circuitry and sensors 810. Correspondingly, LP (landingplatform) landing system 820 can include a LP communication interface822 and one or more LP landing subsystems such as a LP magnetic headingbased landing subsystem 822, an LP infrared light based landingsubsystem 824, an LP global positioning system (GPS)/Real Time Kinematic(RTK) based landing subsystem 826, an LP optical based landing subsystem828, and LP landing control circuitry and sensors 830. The term GPS mayrefer to the American NAVSTAR system, the Russian GLONASS system, theEuropean Union Galileo system, the Japanese Quasi-Zenith satellitesystem, and/or the China's BeiDou navigation satellite system.

In some embodiments, UAV landing control circuitry and sensors 810 candetermine that the UAV is approaching a landing platform and/or is in alanding phase. For example, UAV landing control circuitry and sensors810 can determine that the UAV is approaching a landing platform basedon the GPS coordinates of the UAV's current location and the landinglocation (e.g., within 20 meters). Based on the determination, UAVlanding control circuitry and sensors 810 can provide one or moresignals to activate one or more of UAV magnetic heading based landingsubsystems 802, UAV infrared light based landing subsystem 804, UAVGPS/RTK based landing subsystem 806, and UAV optical based landingsubsystem 808 for precision landing.

In some embodiments, when the UAV is approaching the landing platform(e.g., within 20 meters), UAV landing control circuitry and sensors 810can also provide one or more signals to LP landing system 820 foractivating or triggering one or more of LP magnetic heading basedlanding subsystems 822, LP infrared light based landing subsystem 824,LP GPS/RTK based landing subsystem 826, and LP optical based landingsubsystem 828 for precision landing for precision landing. For example,UAV landing control circuitry and sensors 810 can determine that the UAVis approaching based on the GPS coordinates of the current location andthe destination location. Based on the determination, UAV landingcontrol circuitry and sensors 810 can provide one or more signals to UAVcommunication interface 812. UAV communication interface 812 cantransmit the signals to LP communication interface 822 for activating ortriggering one or more of LP magnetic heading based landing subsystems822, LP infrared light based landing subsystem 824, LP GPS/RTK basedlanding subsystem 826, and LP optical based landing subsystem 828. As anexample, based on the received signals, LP communication interface 822can communicate directly with LP magnetic heading based landingsubsystem 822. LP communication interface 822 can also communicate withLP control circuitry and sensors 830, which then activates or triggersLP magnetic heading based landing subsystem 822.

In some embodiments, LP control circuitry and sensors 830 activates ortriggers one or more of LP magnetic heading based landing subsystems822, LP infrared light based landing subsystem 824, LP GPS/RTK basedlanding subsystem 826, and LP optical based landing subsystem 828without receiving signals from the approaching UAV. For example, LPcontrol circuitry and sensors 830 can detect the approaching UAV usingoptical sensors (e.g., a camera), radio communications, and/or infraredsensors. Based on such detection, LP landing control circuitry andsensors 830 communicates with one or more LP landing subsystems 822,824, 826, and 828 to active or trigger them. LP landing controlcircuitry and sensors 830 communicates can also communicate with the LPcommunication interface 822 to initiate handshake and followingcommunications with UAV communication interface 812 for precisionlanding.

In some embodiments, one or more of LP magnetic heading based landingsubsystems 822, LP infrared light based landing subsystem 824, LPGPS/RTK based landing subsystem 826, and LP optical based landingsubsystem 828 can broadcast signals without detecting an approachingUAV. For example, they can continuously or periodically transmit signalswithout knowing that a UAV is approaching.

UAV communication interface 812 can communicate directly or indirectlywith LP communication interface 822. For example, UAV communicationinterface 812 can communicate with LP communication interface 822 usinga Wi-Fi network, a near-filed communication network, Zigbee, Xbee,802.15.4 radios, XRF, Xtend, Bluetooth, WPAN, line of sight, satelliterelay, or any other wireless network, or a combination thereof. In someembodiments, direct communication between UAV communication interface812 and LP communication interface 822 may be desired because suchdirect communication reduces the delay or latency to allow fasterlanding corrections or adjustments. In some embodiments, if delay orlatency is within an acceptable range, indirect communication betweenUAV communication interface 812 of the UAV and LP communicationinterface 822 may also be used. For example, the two communicationsinterfaces 802 and 822 can communicate through a UAV service based oncellular communication.

In some embodiments, UAV landing system 800 can align the UAV with thelanding platform using magnetic heading information. Referring to FIG.8A, UAV magnetic heading based landing subsystem 802 can include amagnetic heading sensor (e.g., an electric compass) that providesmagnetic heading information. The magnetic heading sensor can sense theheading of UAV. The heading of the UAV is the angle between the courseof the UAV or the direction in which the UAV is pointing and a referencedirection (e.g., the Earth's magnetic field's north direction). UAVmagnetic heading based landing subsystem 802 can obtain the headinginformation of the UAV. Similarly, LP magnetic heading based landingsubsystem 822 can include a magnetic heading sensor for sensing theheading of a landing platform. LP magnetic heading based landingsubsystem 822 can obtain landing alignment information (e.g., a desiredheading or a target heading) based on the magnetic heading of thelanding platform.

In some embodiments, LP magnetic heading based landing subsystem 822 canprovide landing alignment information of the landing platform to UAVlanding system 800, e.g., through LP communication interface 822 and UAVcommunication interface 812. Based on the landing alignment information,UAV magnetic heading based landing subsystem 802 can enable theadjusting of the UAV's landing path (e.g., heading, flight course,and/or landing trajectory) such that the UAV's heading substantiallymatches with the heading of the landing platform. For example, based onthe difference between the heading of the UAV and the heading of the LP,UAV magnetic heading based landing subsystem 802 can determine theamount of correction required and instruct UAV landing control circuitryand sensors 810 and/or a flight control system (e.g., flight controlsystem 620 shown in FIGS. 6A-6B) to make corresponding corrections. Themagnetic heading based precision landing method can be simple, reliable,and energy efficient for landing a UAV on a landing platform.

In some embodiments, UAV landing system 800 can align the UAV with thelanding platform based on infrared beacon communications. Referring toFIG. 8A, LP infrared light based landing subsystem 824 can include oneor more infrared beacons (IR beacons). An IR beacon can transmit landingalignment information, such as a modulated light beam in the infraredspectrum. An IR beacon can transmit the modulated light beam repeatedly,periodically, or continuously. In some embodiments, one or more IRbeacons can be disposed or integrated with LP infrared light basedlanding subsystem 824 to mark the location of the landing platform.

Correspondingly, UAV infrared light based landing subsystem 804 caninclude a receiver to identify and trace the landing alignmentinformation (e.g., the modulated infrared light transmitted by IRbeacons). The modulated infrared light may be transmitted by line ofsight. As an example, the receiver of UAV infrared light based landingsubsystem 804 can include one or more infrared light sensors to locateand trace the infrared light transmitted by the IR beacons. Based on thereceived infrared light, UAV infrared light based landing subsystem 804can enable the adjusting of the UAV's landing path (e.g., heading,flight course, and/or landing trajectory) such that the UAV approachesthe IR beacons of the landing platform.

As an example, a UAV can navigate to a waypoint using a regular GPSsystem and then initiate or activate UAV infrared light based landingsubsystem 804. A waypoint can be a predetermined position with a set ofcoordinates that identify a physical location along the flight route ofthe UAV. After the UAV infrared light based landing subsystem 804 isactivated, the receiver of UAV infrared light based landing subsystem804 can detect the infrared light transmitted by the IR beacons of thelanding platform; and determine the coordinates of the UAV relative tothe IR beacons (e.g., X-Y coordinates). In some embodiments, thereceiver of the UAV infrared light based landing subsystem 804 candetect IR beacons at about 30-60 feet. Based on the determinedcoordinates, UAV infrared light based landing subsystem 804 candetermine the amount of correction required and instruct UAV landingcontrol circuitry and sensors 810 and/or a flight control system (e.g.,flight control system 620 shown in FIGS. 6A-6B) to make correspondingcorrections of the flight path. Infrared light based landing can enableprecise, accurate, and reliable landing of the UAV.

In some embodiments, UAV landing system 800 can align the UAV with thelanding platform using differential GPS/RTK. Referring to FIG. 8A, LPlanding system 820 can include LP GPS/RTK based landing subsystem 826,which has one or more GPS/RTK receivers. The GPS/RTK receiver receivessignals from one or more satellites 840. Based on the satellite signals,LP GPS/RTK based landing subsystem 826 can determine its currentlocation, which is also the location of the landing platform. In someembodiments, LP GPS/RTK based landing subsystem 826 communicates itscurrent location to UAV landing system 800, e.g., through LPcommunication interface 822 and UAV communication interface 812.

Referring to FIG. 8A, UAV landing system 800 can include a UAV GPS/RTKbased landing subsystem 806. The location of the landing platform can beprovided to UAV GPS/RTK based landing subsystem 806 for determining thedistance between the UAV and the landing platform. For example, UAVGPS/RTK based landing subsystem 806 obtains the current location of theUAV from a UAV GPS receiver and compares it to the GPS location of thelanding platform. Based on the comparison, UAV GPS/RTK based landingsubsystem 806 can calculate the distance between the current location ofthe UAV and the location of the landing platform. Based on the distance,UAV GPS/RTK based landing subsystem 806 can determine the amount ofcorrection required and instruct UAV landing control circuitry andsensors 810 and/or a flight control system (e.g., flight control system620 shown in FIGS. 6A-6B) to make corresponding corrections of theflight path. Differential GPS/RTK can also enable precise and accuratelanding of the UAV. To enable differential GPS/RTK, the landing platformmay include a GPS receiver.

In some embodiments, UAV landing system 800 can align the UAV with thelanding platform optical instruments. For example, UAV landing system800 can include UAV optical based landing subsystem 808, which has oneor more cameras. Correspondingly, LP landing system 820 can include LPoptical based landing subsystem 828, which has certain optical markersor images. UAV optical based landing subsystem 808 can acquire theoptical markers or images of the landing platform. Based on the acquiredoptical markers or images, UAV optical based landing subsystem 808 cancalculate the location of the landing platform and/or the distancebetween the current location of the UAV and the location of the landingplatform. Based on the distance, UAV optical based landing subsystem 808can determine the amount of correction required and instruct UAV landingcontrol circuitry and sensors 810 and/or a flight control system (e.g.,flight control system 620 shown in FIGS. 6A-6B) to make correspondingcorrections of the flight path. Optical based landing is described inmore detail in co-pending U.S. patent application Ser. No. 14/631,520filed on Feb. 25, 2015, entitled “Optically Assisted Landing ofAutonomous Unmanned Aircraft”. This application is herein incorporatedby reference in its entirety for all purposes.

FIG. 8B illustrates a flow chart of an exemplary process 860 for landinga UAV on a landing platform, consistent with some embodiments of thepresent disclosure. Some features of the process 860 are illustrated inFIGS. 1, 2A-2C, and 8A and accompanying descriptions. In someembodiments, the process 860 is performed by a UAV (e.g., UAV 130 inFIGS. 1 and 2A). In the process 860, a UAV (e.g., UAV 130) determines(step 862) whether it is in a landing phase or is approaching a landingplatform based on the location of the UAV. After determining that theUAV is in the landing phase, the UAV receives (step 864) landingalignment information from the landing platform. The landing alignmentinformation can be generated based on at least one of a magnetic headingof the landing platform, a GPS position of the landing platform, or aninfrared beacon of the landing platform. Based on the received landingalignment information, the UAV can adjust (step 866) its landing path.

FIG. 8B is merely illustrative of a method for precision landing of aUAV on a landing platform. The illustrative discussions above are notintended to be exhaustive or to limit the invention to the precise formdisclosed. Many modifications and variations are possible in view of theabove teachings.

FIG. 8C is a block diagram illustrating an exemplary process for landinga UAV on a landing platform based on magnetic heading, consistent withsome embodiments of the present disclosure. As discussed above, a UAV130 can align with a landing platform 870 (e.g., landing platform 144having a compass) using magnetic heading information. Referring to FIG.8C, in some embodiments, the landing platform 870 includes a magneticheading sensor (e.g., a compass) for sensing the heading of a landingplatform. The landing platform 870 can obtain landing alignmentinformation (e.g., a desired heading) based on the magnetic heading ofthe landing platform 870.

Similar to those discussed above, the landing platform 870 can detectthat the UAV 130 is approaching or landing based on direct or indirectcommunications with the UAV 130, and/or based on signals provided by oneor more sensors such as an optical sensor. In some embodiments, afterthe landing platform 870 detects that UAV 130 is approaching, it canprovide landing alignment information (e.g., a desired or targetheading) of the landing platform 870 to the UAV 130 for landing. Basedon the landing alignment information, the UAV 130 can adjust the UAV'slanding path (e.g., heading, flight course, and/or landing trajectory)such that the UAV's heading substantially matches with the targetheading provided by the landing platform. For example, based on thedifference between the heading of the UAV 130 and the target heading,the UAV 130 can determine the amount of correction required and makecorresponding corrections. The magnetic heading based precision landingmethod can be simple, reliable, and energy efficient for landing a UAVon a landing platform.

FIG. 8D is a block diagram illustrating an exemplary process for landinga UAV 130 on a landing platform 872 based on differential GPS,consistent with some embodiments of the present disclosure. As discussedabove, the UAV 130 can align with the landing platform 872 (e.g., alanding platform 144 having a compass and/or a GPS) using differentialGPS/RTK. Referring to FIG. 8D, in some embodiments, the landing platform872 can include one or more GPS receivers and/or compasses. The GPSreceiver can receives signals from one or more satellites. Based on thesatellite signals, the GPS of the landing platform can determine itscurrent location, which is also the location of the landing platform. Insome embodiments, the landing platform 872 communicates its currentlocation to the UAV 130 using, for example, broadcasting based on directradio communication.

Referring to FIG. 8D, the UAV 130 can also include a GPS receiver, whichcan determine the location of the UAV 130. Based on the GPS location ofthe UAV 130 and the broadcast GPS location of the landing platform, theUAV 130 can determine the distance between the UAV 130 and the landingplatform. For example, the UAV 130 can obtain the current location ofthe UAV 130 from its GPS receiver and compares it to the GPS location ofthe landing platform 872. Based on the comparison, the UAV 130 cancalculate the difference between the current location of the UAV 130 andthe location of the landing platform 872. Based on the difference, theUAV 130 can determine the amount of correction required and makecorresponding corrections of the flight path. The above describedprocess for determining the difference can be repeatedly, periodically,or continuously performed by the UAV 130 such that the differencebetween the UAV 130 and the landing platform 872 is reduced orminimized. Differential GPS can also enable precise and accurate landingof the UAV 130.

Precision landing on landing platform can enhance the likelihood that aUAV can interact with an exchange station to transport a payload.Therefore, precision landing allows faster and more efficienttransportation of payloads. Moreover, precision landing also enables theUAV to transport payloads to a wide variety of exchange stations such asa transportation truck. Without precision landing, landing on atransportation truck, whether stationary or moving, can be challenging.

UAV Flight Termination System

FIG. 9A illustrates a block diagram of an exemplary UAV flighttermination system (FTS) 630 of a UAV 130 and portions of UAV 130,consistent with some embodiments of the present disclosure. As discussedabove, UAV FTS 630 can determine or obtain a determination whether oneor more conditions for triggering termination of a flight are satisfied.For example, the one or more conditions may include a mid-air collision,a sudden change of weather conditions that may prevent the UAV fromcompleting the current flight, a mechanical/electrical failure of theUAV, whether the battery fails, whether the remaining battery power isinsufficient for supporting the remaining flight, etc. These conditionscan be detected by one or more sensors 950 of UAV 130. After determiningor obtaining the determination that one or more of these conditions aresatisfied, UAV FTS 630 can invoke emergency landing system 908 to searchfor and/or land UAV 130 in a nearby UAV station or location. Forexample, UAV FTS 630 may deploy a parachute for immediate landing of UAV130 at its current location.

Referring to FIG. 9A, UAV FTS 630 can include a FTS power supply 902, abattery manager 920, a FTS controller 940, and an emergency landingsystem 908. FTS power supply 902 can supply electrical power to UAV FTS900. FTS power supply 902 can be, for example, a battery, a fuel cell,and/or a solar panel. In some embodiments, FTS power supply 902 can be aseparate power supply from main power supply 608 of the UAV. As aresult, a power supply failure (e.g., a depleted battery) of main powersupply 608 may not affect the operation of UAV FTS 630, which is poweredby FTS power supply 902. Separating FTS power supply 902 from main powersupply 608 reserves FTS power supply 902 as the emergency power supplyfor operating UAV FTS 630, which can be a mission-critical system.

UAV FTS 630 can also include a battery manager 920. In some embodiments,battery manager 920 can monitor the status of FTS power supply 902(e.g., the state of charge of a FTS battery). Based on the monitoring,battery manager 920 can determine whether FTS power supply 902 requiresrecharge, refuel, or replacement. For example, if battery manager 920detects that FTS power supply 902 (e.g., a battery) is depleted, it candetermine that the FTS battery needs to be recharged or replaced.Battery manager 920 can also enable the charging of FTS power supply 902using internal or external power supplies. For example, battery manager920 can electrically couple main power supply 608 to FTS power supply902 to charge FTS power supply 902. Main power supply 608 can be a powersupply for operation of UAV 130. For example, main power supply 608enables the regular operation (e.g., transporting payloads) of UAV 130.In some embodiments, main power supply 608 may have a larger capacitythan that of FTS power supply 902.

In some embodiments, battery manager 920 can also monitor hazardousconditions or abnormal conditions of FTS power supply 902. For example,battery manager 920 can detect whether FTS power supply 902 isoverheated, on fire, short circuited, or leaking at an abnormal rate.After determining that FTS power supply 902 has one or more hazardousconditions or abnormal conditions, battery manager 920 can send an alertsignal to one or more host processors 910 to indicate such conditions.Host processors 910 can be, for example, a portion of flight controlsystem 620. Based on the alert signal, host processors 910 can determineone or more proper actions. For example, host processors 910 candetermine that an alert message needs to be provided to an operator oradministrator's portable electronic device. Host processors 910 can alsodetermine that the FTS power supply 902 needs to be replaced or that theUAV needs to perform an emergency landing.

In some embodiments, battery manager 920 can detect whether FTS powersupply 902 is being electrically coupled or exposed to excessively lowor high voltages or currents. For example, FTS power supply 902 can be abattery that is charged within a range of DC voltages. However, if FTSpower supply 902 is exposed or coupled to a DC or AC voltages outside ofthe acceptable range, it can be reparably or irreparably damaged. Toprevent such damage, battery manager 920 can includeunder-voltage/current or over-voltage/current protection circuits (e.g.,electrical overstress (EOS) or electrostatic discharge (ESD) protectioncircuits) to protect FTS power supply 902.

In some embodiments, battery manager 920 can record informationassociated with operation of FTS power supply 902. For example, batterymanager 920 can record a plurality of battery parameters (e.g., batterydischarge rate, temperature, capacity, etc.), battery statuses andconditions, alert signals, and/or messages. Battery manager 920 canrecord the information associated with FTS power supply 902 using, forexample, memory 914 of the UAV or internal memory of UAV FTS 630 (notshown). Memory 914 and/or internal memory of UAV FTS 630 can include adrum, magnetic disc drive, magneto-optical drive, optical drive,redundant array of independent discs (RAID), solid-state memory devices,flash devices, solid-state drives, etc. Battery manager 920 can furtherprovide the recorded information for diagnosis, forensics, failureanalysis, and/or any other purposes.

In some embodiments, battery manager 920 can provide power to UAV FTS630 from at least one of FTS power supply 902 and main power supply 608.For example, battery manager 920 can detect that FTS power supply 902 isdepleted or insufficient for operation of UAV flight termination system.Battery manager 920 can thus determine FTS power supply 902 needs arecharge or replacement. In some embodiments, before FTS power supply902 is recharged or replaced, battery manager 920 can electricallycouple main power supply 608 to UAV FTS 630 such that components of UAVFTS 630 (e.g., FTS controller 940, emergency landing system 908) cancontinue to operate.

In some embodiments, battery manager 920 can also detect that main powersupply 608 is insufficient or is temporarily unavailable. As a result,battery manager 920 can electrically couple FTS power supply 902 to UAV130 such as components of UAV 130 (e.g., flight control system 620, thenavigation system) can continue to operate. For example, as illustratedin FIG. 6A, UAV 130 can land on landing platform 144 for exchanging thepayload container 610 and main power supply 608 with exchange station146. After UAV 130 releases main power supply 608 (e.g., a battery) toexchange station 146, it can be powered by FTS power supply 902 so thatUAV 130 can continue to operate. In some embodiments, if FTS powersupply 902 is used to power UAV 130, UAV 130 can operate in a low powermode (e.g., place certain systems or components in hibernate or sleepmode, while only operating certain necessary systems or components).

FIG. 9B illustrates a block diagram of an exemplary battery manager 920of a UAV flight termination system, consistent with some embodiments ofthe present disclosure. Referring to FIG. 9B, battery manager 920 caninclude a programmable battery management unit 922 and one or moreelectronic components including, for example, one or more resistors,capacitors, inductors, diodes, transistors, and other electricalcomponents. Programmable battery management unit 922 can provide batterycontrol functions, battery charging control outputs, gas gauging, andprotection for autonomous operation of battery packs. For example,programmable battery management unit 922 can be a Texas Instruments'BQ40Z60 type integrated circuits. It is appreciated that FIG. 9B merelyillustrates one embodiment of the circuit architecture of batterymanager 920, and any other circuit architecture may be used to implementbattery manager 920.

Referring back to FIG. 9A, UAV FTS 630 can also include FTS controller940. In some embodiments, FTS controller 940 can communicate withbattery manager 920 to control charging of FTS power supply 902 and/ormain power supply 608. FTS controller 940 can also communicate withbattery manager 920 to receive information (e.g., battery status,parameters, alerts, etc.) associated with FTS power supply 902. FTScontroller 940 and battery manager 920 can communicate using, forexample, inter-integrated circuit (I²C) or system management bus (SMbusor SMB).

In some embodiments, FTS controller 940 can monitor the status oroperation mode of UAV 130. For example, FTS controller 940 cancommunicate with operation mode indicator 916, which detects andprovides the current operation mode of UAV 130. The operation mode maybe, for example, a standby mode, a preflight mode, an in-flight mode, alanded mode, a payload exchange mode, etc. Based on the detectedoperation mode, FTS controller 940 can control the power state of FTSpower supply 902 and/or main power supply 608. For example, if FTScontroller 940 determines that UAV 130 is in a standby mode, it maycommunicate with batter manager 920 to turn off or reduce power supply(e.g., reduce current) from main power supply 608 and/or FTS powersupply 902. As a result, FTS controller 940 intelligently manages thepower supply to reserve power.

In some embodiments, FTS controller 940 can monitor an emergency landingsignal. For example, flight control system 620, an autopilot system,and/or the navigation system of UAV 130 can obtain an indication thatUAV 130 requires to perform an emergency landing by deploying aparachute. For example, sensors 950 can determine that there is amid-air collision, a sudden change of weather conditions that mayprevent UAV 130 from completing the current flight, amechanical/electrical failure of UAV 130, a failure of main power supply608, etc. Based on the determination, sensors 950 can generate anemergency landing signal and provide the signal to flight control system620 and/or FTS controller 940 for engaging emergency landing system 908.

After receiving the emergency landing signal, FTS controller 940 candetermine whether one or more conditions are satisfied for deploying anemergency landing mechanism (e.g., a parachute). As an example, beforedeploying a parachute, the propellers (e.g., propellers 606) may berequired to stop or to slow down. As another example, before deploying aparachute, UAV 130 may be required to search for a suitable place forlanding (e.g., a place that has a solid surface and free of obstacles).In some embodiments, if one or more of these conditions are notsatisfied, FTS controller 940 may not engage emergency landing system908 to deploy the emergency landing mechanism. In some embodiments, FTScontroller 940 may take one or more corresponding actions or engageother systems/components of UAV 130 to adjust or change the conditions.For example, FTS controller 940 can communicate with main power supply608 to reduce or eliminate power supply to the propellers (e.g.,propellers 606) of UAV 130 to prepare for deploying the parachute. Insome embodiments, FTS controller 940 can engage emergency landing system908 regardless of whether one or more of these conditions are satisfied.For example, FTS controller 940 can deploy a parachute even afterdetermining that a solid surface is not available but a soft surface isavailable, or that the obstacles would not substantially affectemergency landing.

In some embodiments, if one or more conditions for emergency landing aresatisfied, FTS controller 940 can engage the emergency landing system908 to deploy the emergency landing mechanism (e.g., a parachute).

In some embodiments, FTS controller 940 can also monitor one or moresignals provided by main power supply 608. Based on the monitoring, FTScontroller 940 can determine whether to take one or more proper actions,e.g., whether to engage FTS power supply 902 or whether to engageemergency landing system 908. As an example, FTS controller 940 candetermine that main power supply 608 is depleted and determine that FTSpower supply 902 needs to be engaged. As another example, FTS controller940 can determine that there is a power failure while UAV 130 isin-flight and therefore engage the emergency landing system 908. Asanother example, FTS controller 940 can determine that the remainingcharge of main power supply 608 is insufficient for the next flight, andtherefore prevent UAV 130 from taking off.

In some embodiments, FTS controller 940 can communicate with attitudeand heading reference systems (AHRS) and/or inertial sensors 918. AHRSand/or inertial sensors 918 can be independent and/or separate from anautopilot system of UAV 130. AHRS and/or inertial sensors 918 caninclude sensors on three axes that provide attitude information for UAV130, including heading, pitch, and yaw. AHRS can be solid-statemicroelectromechanical systems (MEMS) gyroscopes, accelerometers, and/ormagnetometers. In some embodiments, FTS controller 940 communicates withAHRS and/or inertial sensors 918 to receive data for enabling redundancyfrom the autopilot and/or navigation system of UAV 130. For example, ifthere is a failure of autopilot and/or navigation system, UAV 130 cancontinue to fly or land using data received from AHRS and/or inertialsensors 918.

In some embodiments, FTS controller 940 can obtain and communicatestatus information (e.g., the main power supply status, the FTS powersupply status, the emergency landing system status, the flight status ofUAV 130, etc.). For example, FTS controller 940 can communicate thestatus information using visual and/or audio device (e.g., lightemitting diodes, buzzers) or using packet communication.

FIG. 9C illustrates a block diagram of an exemplary FTS controller 940,consistent with some embodiments of the present disclosure. Referring toFIG. 9C, FTS controller 940 can include a microcontroller unit 942, adecoder 944, a voltage regulator or translator 946, and one or moreelectronic components 948 including, for example, one or more resistors,capacitors, inductors, diodes, transistors, and other electricalcomponents. Microcontroller unit 942 can provide embedded control ofmotors and general purpose applications. For example, microcontrollerunit 942 can be a Microchip's PIC16F1618 type integrated circuits.Decoder 944 can decode signals (e.g., pulse width modulation (PWM)signals) from the autopilot system of UAV 130 and provide decodedsignals to microcontroller unit 942. In some embodiments, decoder 944can be Pololu 2801 type of circuitry. Voltage regulator or translator946 can provide voltage conversion and provide a constant voltage levelto the components of FTS controller 940. It is appreciated that FIG. 9Cmerely illustrates one embodiment of the circuit architecture of FTScontroller 940, and any other circuit architecture may be used toimplement FTS controller 940.

FIG. 9D illustrates a flow chart of an exemplary process 960 forcontrolling termination of a UAV flight, consistent with someembodiments of the present disclosure. Some features of the process 960are illustrated in FIGS. 1, 2A-2C, and 9A-9C and accompanyingdescriptions. In some embodiments, the process 960 is performed by aflight termination system of a UAV (e.g., UAV FTS 630 in FIG. 9A). Inthe process 960, a UAV flight termination system (e.g., UAV FTS 630)determines (step 962) whether an emergency landing signal is generated.Based on the determination that the emergency landing signal isgenerated, the UAV flight termination system determines (step 964)whether one or more conditions for emergency landing are satisfied.Based on the determination that the one or more conditions aresatisfied, the UAV flight termination system deploys (step 966) anemergency landing mechanism, such as a parachute.

FIG. 9D is merely illustrative of a method for emergency landing of aUAV. The illustrative discussions above are not intended to beexhaustive or to limit the invention to the precise form disclosed. Manymodifications and variations are possible in view of the aboveteachings.

Exemplary methods, non-transitory computer-readable storage media,systems and electronic devices are set out in the following items:

Mobile App for Operator—Performed by a Mobile Device (FIGS. 1, 2B, and3A-3Y).

-   -   1. A method for facilitating payload transportation using an        unmanned aerial vehicle (UAV), comprising:        -   at a portable electronic device including one or more            processors and memory,        -   receiving a first input indicating a takeoff location of the            UAV and a second input indicating a landing location of the            UAV;        -   in response to receiving the first and second, obtaining a            determined UAV flight route from the takeoff location to the            landing location;        -   providing, based on the obtained UAV flight route, flight            route information indicating a viable flight route; and        -   providing a takeoff command to the UAV according to the            viable flight route.

Smart Payload Container (FIGS. 4A-4B)

-   -   2. An apparatus for transporting a payload using an unmanned        aerial vehicle (UAV), comprising:        -   a container having dimensions that correspond to a carrying            space of a UAV;        -   a first identification accessible on an external surface of            the container, the first identification being scannable for            identifying the container; and        -   a second identification readable by the UAV, the second            identification being associated with the first            identification for identifying the container.

UAV Cloud Service—Performed by the UAV Service Server (FIGS. 1, 2C, and4A-4C)

-   -   3. A method for facilitating payload transportation using an        unmanned aerial vehicle (UAV), comprising:        -   at a computer system including one or more processors and            memory,        -   receiving an identification of a payload to be transported,            the identification information of the payload being            associated with a destination location of the payload;        -   receiving a first identification of a container for housing            the payload, the first identification being accessible on an            external surface of the container and being scannable;        -   receiving a second identification from the UAV, the second            identification comprising a near-field identification tag            associated with the first identification for identifying the            container;        -   determining a UAV flight route based on the identification            of the payload; and        -   providing the UAV flight route to the UAV based on the first            and second identifications.

Mobile App for Transporter—Performed by a Mobile Device (FIGS. 1, 2B,and 5A-5W)

-   -   4. A method for facilitating a payload transportation using an        unmanned aerial vehicle (UAV), comprising:        -   at a portable electronic device including one or more            processors and memory,        -   obtaining an identification of the payload to be            transported, the identification of the payload being            associated with a destination location of the payload;        -   providing the identification of the payload to a UAV            service;        -   obtaining a first identification of a container for housing            the payload, the first identification being accessible on an            external surface of the container and being scannable;        -   providing the first identification to the UAV service; and        -   providing one or more instructions to a selected UAV for            transporting the payload based on a UAV flight route,            wherein the UAV flight route is generated based on the            identification of the payload, and wherein the UAV is            selected based on the first identification and a second            identification, the second identification corresponds to the            first identification for identifying the container.

UAV (FIGS. 6A-6B)

-   -   5. An unmanned aerial vehicle (UAV) for transporting a payload,        comprising:        -   a body having a carrying space that extends to the bottom of            the UAV;        -   one or more propellers connected with the body;        -   a battery mounted to the body, the battery being releasable            through the opening of the carrying space at the bottom of            the UAV; and        -   a payload container mounted to the body, the payload            container being releasable through the opening of the            carrying space at the bottom of the UAV.    -   6. The unmanned aerial vehicle of item 5, wherein the opening of        the carrying space at the bottom of the UAV has dimensions that        correspond to the dimensions of an opening at a landing        platform.

Landing Platform (FIGS. 1, 2A, 7A-7E).

-   -   7. A landing platform for receiving a payload container from an        unmanned aerial vehicle (UAV), comprising:        -   one or more landing subsystems configured to coordinate with            the UAV for landing;        -   one or more sensors for detecting the landing of the UAV on            the landing platform;        -   one or more actuators configured to align the UAV for            receiving the payload container; and        -   a payload receiving structure of the landing platform            configured to receive the payload container.    -   8. The landing platform of item 7, wherein the landing        subsystems include at least one of a magnetic heading based        landing subsystem, an infrared light based landing subsystem, a        global positioning system based landing subsystem, and an        optical based landing subsystem.    -   9. The landing platform of item 8, wherein the magnetic heading        based landing subsystem includes a magnetic heading sensor for        providing heading information of the landing platform to the        communication interface; and wherein the communication interface        provides the heading information of the landing platform to the        UAV.    -   10. The landing platform of item 8, wherein the infrared light        based landing subsystem includes an infrared beacon that        transmits a modulated infrared light beam.    -   11. The landing platform of item 8,        -   wherein the global positioning system (GPS) based landing            subsystem comprises:            -   a GPS signal receiver that receives satellite signals,                and            -   one or more processors that determine the location of                the landing platform based on the received satellite                signals; and        -   wherein the communication interface provides the determined            location of the landing platform to the UAV.    -   12. The landing platform of item 7, wherein the actuator        comprises:        -   a sensor that detects a landing of the UAV based on sensing            a change of at least one of: a light path, a weight, a            center of gravity, a magnetic field, an electrical signal;            and        -   a motor that activates based on the detected landing of the            UAV, the motor being operated by at least one of an electric            current, a hydraulic fluid pressure, or a pneumatic            pressure.

Precision Landing—Performed by the UAV (FIG. 8A-8B)

-   -   13. A method for precision landing of an unmanned aerial vehicle        (UAV) on a landing platform, the UAV including one or more        processors and a communication interface, the method comprising:        -   determining, at the UAV, whether the UAV is in a landing            phase based on the location of the UAV;        -   after determining that the UAV is in the landing phase,            receiving landing alignment information from the landing            platform, the landing alignment information being generated            based on at least one of a magnetic heading of the landing            platform, a GPS position of the landing platform, or an            infrared beacon of the landing platform; and        -   adjusting a landing path of the UAV based on the received            landing alignment information.

UAV Flight Termination System—Performed by the UAV (FIGS. 9A-9C)

-   -   14. A system for emergency landing of an unmanned aerial vehicle        (UAV), comprising:        -   a battery manager configured to provide power to a control            circuitry for emergency landing; and        -   a controller configured to            -   determine whether an emergency landing signal is                generated;            -   based on the determination that the emergency landing                signal is generated, determine whether one or more                conditions for emergency landing are satisfied;            -   based on the determination that the one or more                conditions are satisfied, deploy an emergency landing                mechanism.    -   15. The system of item 14, wherein the emergency landing signal        is generated based on at least one of: loss of main power supply        of the UAV, a flight control system or an autopilot system being        non-responsive, a detection of a violation of flight envelop, a        disparity between barometric and GPS-derived altitude above        ground level, a decent rate that is greater than a decent-rate        threshold, and a pitch or bank angle that is greater than an        angle threshold.    -   16. An unmanned aerial vehicle (UAV) for transporting a payload,        comprising:        -   a body;        -   one or more propellers rotatably connected to the body;        -   a battery mounted to the body, the battery being releasable            from the bottom of the UAV; and        -   a payload container mounted to the body, the payload            container being releasable from the bottom of the UAV to a            landing platform associated with a UAV station.    -   17. The UAV of item 16, wherein the battery is mounted above the        payload container to facilitate releasing of the payload        container followed by releasing of the battery.    -   18. The UAV of item 16, wherein the battery is mounted on the        side of the payload container.    -   19. The UAV of item 16, wherein the battery and the payload        container is releasable together as one unit.    -   20. An unmanned aerial vehicle (UAV) for transporting a payload,        comprising:        -   a body;        -   one or more propellers rotatably connected to the body;        -   a releasable battery mounted to the body; and        -   a payload container mounted to the body, the payload            container being releasable from the bottom of the UAV to a            landing platform associated with a UAV station.

It should be noted that, despite references to particular computingparadigms and software tools herein, the computer program instructionswith which embodiments of the present subject matter may be implementedmay correspond to any of a wide variety of programming languages,software tools and data formats, and be stored in any type of volatileor nonvolatile, non-transitory computer-readable storage medium ormemory device, and may be executed according to a variety of computingmodels including, for example, a client/server model, a peer-to-peermodel, on a stand-alone computing device, or according to a distributedcomputing model in which various of the functionalities may be effectedor employed at different locations. In addition, references toparticular algorithms herein are merely by way of examples. Suitablealternatives or those later developed known to those of skill in the artmay be employed without departing from the scope of the subject matterin the present disclosure.

It will also be understood by those skilled in the art that changes inthe form and details of the implementations described herein may be madewithout departing from the scope of this disclosure. In addition,although various advantages, aspects, and objects have been describedwith reference to various implementations, the scope of this disclosureshould not be limited by reference to such advantages, aspects, andobjects. Rather, the scope of this disclosure should be determined withreference to the appended claims.

What is claimed is:
 1. An unmanned aerial vehicle (UAV) station,comprising: a landing platform; a payload receiving structure configuredto receive payloads from and attach payloads to a UAV positioned on thelanding platform; a plurality of optical sensors configured to monitorand scan airspace proximate the landing platform for obstacles; and acommunication interface configured to issue instructions authorizingtakeoff and landing operations of the UAV based on sensor readingsgenerated by the plurality of optical sensors, wherein in response toone or more of the plurality of optical sensors detecting an obstacleproximate the landing platform, the communication interface is operableto issue instructions to prevent takeoff of the UAV and disablepropellers of the UAV.
 2. The UAV station as recited in claim 1, furthercomprising a cover for protecting a landing surface of the landingplatform, the cover being configured to open to accommodate landing ofthe UAV.
 3. The UAV station as recited in claim 1, wherein the groundstation further comprises a centering mechanism configured to positionthe UAV in a central region of the landing platform such that the UAV ispositioned above the payload receiving structure.
 4. The UAV station asrecited in claim 1, wherein the payload receiving structure comprises acentral opening in the landing platform and the payload receivingstructure is configured to attach a payload to the UAV through thecentral opening in the landing platform.
 5. The UAV station as recitedin claim 4, wherein the payload receiving structure is furtherconfigured to receive a battery from and attach a battery to the UAVthrough the central opening.
 6. The UAV station as recited in claim 1,wherein the instructions authorizing takeoff and landing are deliveredto the UAV by a UAV service separate and distinct from the UAV station.7. The UAV station as recited in claim 1, wherein the communicationinterface is co-located with the UAV station.
 8. The UAV station asrecited in claim 1, wherein in response to one or more of the pluralityof optical sensors detecting an obstacle proximate the landing platform,the communication interface is operable to issue instructions to preventlanding of the UAV.